• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (5): 108-115.doi: 10.3901/JME.2017.05.108

• 机构学及机器人 • 上一篇    下一篇

3-SPR并联机构运动学性能评价*

汪满新1, 刘海涛2, 黄田2   

  1. 1. 燕山大学河北省并联机器人与机电系统重点实验室 秦皇岛 066004;
    2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004
  • 出版日期:2017-03-05 发布日期:2017-03-05
  • 作者简介:

    汪满新,男,1987年出生,博士,讲师。主要研究方向为机器人学与机构学。

    E-mail:wangmxtju@aliyun.com

    刘海涛(通信作者),男,1981年出生,博士,副教授。主要研究方向为机构学及机器人技术。

    E-mail:liuht@tju.edu.cn

  • 基金资助:
    * 国家自然科学基金(51605225, 51135008)、教育部高校博士点基金(20110032130006)和中央高校基本科研业务费专项资金(30915118830)资助项目; 20160426收到初稿,20161115收到修改稿;

Kinematics Performance Evaluation of a 3-SPR Parallel Manipulator

WANG Manxin1, LIU Haitao2, HUANG Tian2   

  1. 1. Department of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094;
    2. Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin 300072
  • Online:2017-03-05 Published:2017-03-05

摘要:

以一种可用于航天航空高速铣削加工和自动装配的面对称3-SPR并联机构为对象,利用矩阵求逆提出一种具有解耦格式的全雅可比矩阵建模方法,并据此构造出一组取值介于[0, 1]之间、量纲一且与坐标系无关的运动学性能评价指标,用于揭示机构尺度参数对这组指标的影响规律。在此基础上,构造出满足给定运动学性能、支链极限杆长比和球副转角等几何与运动学约束的尺度参数可行域,既可满足运动学性能要求,又可为后续设计修改尺度留有余地。

关键词: 解耦雅可比矩阵, 运动学性能评价, 并联机构

Abstract:

A method for developing the decoupled overall Jacobian of a planar symmetric 3-SPR parallel mechanism is presented by using matrix inversion technique, the 3-SPR parallel mechanism can be used to form the main body of a 5-DOF hybrid manipulator especially designed for high-speed machining and automatic assembling in the aircraft industry. Then a set of novel kinematic performance indices dimensionless, invariant with respect to the coordinate frame, and having a value ranged within [0, 1] are developed by using the decoupled overall Jacobian. By investigating the influences of the homogeneous dimensionless parameters on these indices, the feasible domains of dimensionless design variables are obtained subject to the specified kinematic and geometric constraints, which not only meet the requirement of kinematic performance but also leave room for further modification.

Key words: decoupled overall Jacobian, kinematic performance evaluation, parallel mechanism