基于变胞机构的性能可变机械臂研制

doi:10.3901/JME.2018.15.041

摘要/Abstract

摘要： 为研制一种用于铝合金铸件打磨、抛光的机械臂，将3-UPS机构作为初始构型，通过定义运动灵活性和静力承载能力评价指标，揭示出3-UPS机构的尺寸参数与其运动学、静力学评价指标之间的关系，表明：随着尺寸参数的取值变化，3-UPS机构的运动灵活性和静力承载能力变化规律相反，如果要追求其中一种性能，就必然导致另一种性能降低。为了使机械臂的构型、最优机构学性能可以根据不同工况而实时改变，在3-UPS机构每个分支与固定平台之间增加1个移动驱动副，提出一种基于3-PUPS机构的超冗余机械臂，该机械臂可以通过对各分支电动机抱闸锁定的组合实现变胞而得到31种新构型，当其处于3-UPS构型时还可以通过改变固定平台万向副分布半径数值，实时选择性调整运动灵活性最好、或静力承载能力最强。对超冗余3-PUPS机构进行了运动学和静力学建模与分析，揭示了其运动灵活性和静力学传递性能的分布规律。结合打磨、抛光工艺制定出机械臂在不同工况的变胞规则、变尺寸规则，实现了机械臂在不同工况具有不同的自由度状态和最优性能。研制出超冗余机械臂的试验样机，通过一套综合试验系统验证了其变胞构型的可实现性，并测量出其处于3-UPS构型时的定位误差，试验表明：机械臂的运动平台的位置误差均小于0.4 mm，姿态误差均小于0.45°，基本达到了通用式工业机器人的精度水平。

关键词: 变胞, 并联机械臂, 冗余, 试验样机

Abstract: In order to develop a manipulator for aluminum alloy castings' grinding and polishing, 3-UPS mechanism is selected as the initial mechanism. Its kinematic and static evaluation indexes are established, and the relationship between 3-UPS mechanism's parameters and its kinematic and static evaluation indexes is revealed. Relationship shows:with the change of 3-UPS mechanism's parameters, the kinematic flexibility and the static load capacity change in the opposite directions. Therefore, if one of the performances is chosen as optimal, it will inevitably lead to the other performance degradation. In order to make the manipulator's configuration and the optimal mechanism performance can be changed in real time according to different working conditions, a mobile driving joint is added between 3-UPS mechanism's each branch and its fixed platform. A hyper-redundant manipulator based on 3-PUPS mechanism is proposed. It can achieve 31 new configurations through the combination lock on the motor brake. Its kinematic flexibility, or static load capacity, can be chosen as optimal performance, by changing the universal joints' distribution radius of the fixed platform. Then, the hyper-redundant manipulator's metamorphic and variable dimensions for different working conditions are formulated based on grinding and polishing processes. Finally, the hyper-redundant metamorphic parallel manipulator's experimental prototype is manufactured, and its metamorphic ability is proved to be possible by experiment. Experiments show that the position error of the manipulator's moving platform is less than 0.4 mm, and the attitude error is less than 0.45°. The manipulator's precision has reached the level of general industrial robot.

Key words: experimental prototype, metamorphic, parallel manipulator, redundant

中图分类号:

TG156

荣誉, 曲梦可. 基于变胞机构的性能可变机械臂研制[J]. 机械工程学报, 2018, 54(15): 41-51,59.

RONG Yu, QU Mengke. Design of Manipulator with Variable Performances Based on Metamorphic Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(15): 41-51,59.

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