与串并联机构运动等效的新型并联机构综合方法研究

doi:10.3901/JME.2021.01.001

机械工程学报 ›› 2021, Vol. 57 ›› Issue (1): 1-7.doi: 10.3901/JME.2021.01.001

• 机器人及机构学 • 下一篇

扫码分享

与串并联机构运动等效的新型并联机构综合方法研究

孙静¹, 单彦霞^1,2, 张建伟¹, 邵磊¹, 李仕华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. 燕山大学里仁学院秦皇岛 066004

收稿日期:2020-01-10 修回日期:2020-03-02 出版日期:2021-01-05 发布日期:2021-02-06
通讯作者: 李仕华(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人技术及理论。E-mail:shli@ysu.edu.cn
作者简介:孙静,男,1989年出生,博士研究生。主要研究方向为并联机器人技术及理论。E-mail:990294539@qq.com
基金资助:
国家自然科学基金（51775475）和河北省自然科学基金重点（E2016203463）资助项目。

Research on Synthesis Method of Novel Parallel Mechanisms with Equivalent Motion to Serial-parallel Mechanism

SUN Jing¹, SHAN Yanxia^1,2, ZHANG Jianwei¹, SHAO Lei¹, LI Shihua¹

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. Liren College, Yanshan University, Qinhuangdao 066004

Received:2020-01-10 Revised:2020-03-02 Online:2021-01-05 Published:2021-02-06

摘要/Abstract

摘要： 为简化串并联机构结构，使该类机构得到更好的应用，提出一类与串并联机构运动等效的并联机构，其特点在于没有中间平台，两个并联机构通过对应分支直接连接或共用部分运动副连接在一起融合为一个整体机构。基于螺旋理论，提出了这类并联机构综合方法，给出了综合条件，制定了综合流程。采用该方法，对与三转动机构和三平移机构构成的串并联机构运动等效的新型6自由度并联机构进行了综合，综合出多种新机构，丰富了并联机构构型。新型6自由度并联机构结构上具有结构简单、紧凑，轻量化的优点。对综合出的机构进行约束力分析表明，球面三转动子机构力学分析中不存在静不定问题。综合的6自由度并联机构以其在结构和分析上的优点，在指向隔振等领域具有良好的应用前景。

关键词: 串并联机构, 运动等效特性, 螺旋理论, 综合方法, 新型6自由度并联机构

Abstract: In order to simplify the structure of the serial-parallel mechanisms and make this kind of mechanisms better applied, a novel kind of parallel mechanisms with equivalent kinematics to serial-parallel mechanisms are proposed. The difference is that two parallel mechanisms are directly connected through corresponding branches or indirectly connected through the common kinematic pairs of corresponding branches to form an integral mechanism with no intermediate platform. Based on screw theory, a new synthesis method for this kind of novel mechanisms is proposed, the synthesis conditions are given and the synthesis process is formulated. With this method, new six degrees of freedom (6-DOF) parallel mechanisms with equivalent kinematics to serial-parallel mechanisms composed of 3-DOF rotational mechanisms and 3-DOF translational mechanisms are synthesized. Some new mechanisms have been synthesized, which enriches the parallel mechanism configurations. The new 6-DOF parallel mechanisms have simple and compact structure. The constraint force analysis indicates that there exists no statically indeterminate problem in the spherical 3-DOF rotational mechanism. The synthesized 6-DOF parallel mechanisms have potential application to pointing and vibration isolation platform for the advantages of structure and analysis.

Key words: serial-parallel mechanism, equivalent motion characteristic, screw theory, synthesis method, novel 6-DOF parallel mechanisms

中图分类号:

TH112

孙静, 单彦霞, 张建伟, 邵磊, 李仕华. 与串并联机构运动等效的新型并联机构综合方法研究[J]. 机械工程学报, 2021, 57(1): 1-7.

SUN Jing, SHAN Yanxia, ZHANG Jianwei, SHAO Lei, LI Shihua. Research on Synthesis Method of Novel Parallel Mechanisms with Equivalent Motion to Serial-parallel Mechanism[J]. Journal of Mechanical Engineering, 2021, 57(1): 1-7.

参考文献

[1] 杨廷力,刘安心,罗玉峰,等. 机器人机构结构综合方法的基本思想、特点及其发展趋势[J]. 机械工程学报,2010,46(9):1-11. YANG Tingli,LIU Anxin,LUO Yufeng,et al. Basic principles,main characteristics and development tendency of methods for robot mechanism structure synthesis[J]. Journal of Mechanical Engineering,2010,46(9):1-11.
[2] 张彦斌,吴鑫. 完全解耦二移动二转动并联机构结构综合[J]. 农业机械学报,2013,44(8):250-256. ZHANG Yanbin,WU Xin. Structural synthesis of fully-decoupled two-translational and two-rotational parallel mechanisms[J]. Journal of Agricultural Engineering,2013,44(8):250-256.
[3] ZENG Daxing,HUANG Zhen. Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J]. Science in China Series E:Technological Sciences,2011,54(4):998-1004.
[4] 陈海,曹毅,秦友蕾. 无耦合完全各向同性1T1R并联机器人机构构型综合[J]. 中国机械工程,2016,27(5):589-595. CHEN Hai,CAO Yi,QIN Youlei. Type synthesis of fully-decoupled and fully-isotropic 1T1R parallel robotic manipulators[J]. China Mechanical Engineering,2016,27(5):589-595.
[5] KONG Xianwen. Type synthesis of 3-DOF parallel manipulators with both a planar operation mode and a spatial translational operation mode[J]. Journal of Mechanisms and Robotics,2017,5(4):041015-041015-8.
[6] 石志新,叶梅燕,罗玉峰,等. 四自由度两模式并联机构结构综合与位置分析[J]. 农业机械学报,2017,48(4):383-389. SHI Zhixin,YE Haiyan,LUO Yufeng,et al. Type synthesis and position analysis of 4-DOF parallel mechanisms with two operation modes[J]. Journal of Agricultural Engineering,2017,48(4):383-389.
[7] ZHENG Xiangzhou,BIN Hongzan,LUO Yougao. Kinematic analysis of a hybrid serial-parallel manipulator[J]. The International Journal of Advanced Manufacturing Technology,2004,23(11-12):925-930.
[8] LU Yi,HU Bo,SUN Tao. Analyses of velocity,acceleration,statics,and workspace of a 2(3-SPR) serial-parallel manipulator[J]. Robotica,2009,27(4):529-539.
[9] ROMDHANE L. Design and analysis of a hybrid serial-parallel manipulator[J]. Mechanism and Machine Theory,1999,34(7):1037-1055.
[10] 梁辉,杨加礼,王蕾,等. 3UPU+3RPS并串联机构的运动学分析及仿真[J]. 机械与电子,2017(10):42-45,50. LIANG Hui,YANG Jiali,WANG Lei,et al. Kinematics analysis and simulation of 3UPU+3RPS parallel-series mechanisms[J]. Machinery and Electronics,2017(10):42-45,50.
[11] TANIO K. TANEV. Kinematics of a hybrid (parallel-serial) robot manipulator[J]. Mechanism and Machine Theory,2000,35:1183-1196.
[12] GALLARDO-ALVARADO J,AGUILAR-NÁJERA C R,CASIQUE-ROSAS L,et al. Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work[J]. Mechanism and Machine Theory,2008,43(10):1281-1294.
[13] GALLARDO-ALVARADO J,RODRÍGUEZ-CASTRO R,AGUILAR-NÁJERA C R,et al. A novel six-degrees-of-freedom series-parallel manipulator[J]. Journal of Mechanical Science and Technology,2012,26(6):1901-1909.
[14] 虞启凯,游有鹏,韩江义. 一种6DOF串并联机构性能指标分析[J]. 机械传动,2015,39(6):159-165. YU Qikai,YOU Youpeng,HAN Jiangyi. Performance index analysis of a 6 DOF serial and parallel mechanism[J]. Mechanical Transmission,2015,39(6):159-165.
[15] 胡波,宋春晓,张庆玲,等. 2(2-UPR+SPR)串并联机构雅可比矩阵的建立[J]. 中国机械工程,2015,26(7):853-858. HU Bo,SONG Chunling,ZHANG Qingling,et al. Jacoban matrix establishment of 2(2-UPR+SPR) serial-parallel manipulator[J]. China Mechanical Engineering,2015,26(7):853-858.
[16] HU Bo,ZHAO Jinjun,CUI He. Terminal constraint and mobility analysis of serial-parallel manipulators formed by 3-RPS and 3-SPR PMs[J]. Mechanism and Machine Theory,2019,134:685-703.
[17] HU Bo,YU Jingjing. Unified solving inverse dynamics of 6-DOF serial-parallel manipulators[J]. Applied Mathematical Modelling,2015,39(16):4715-4732.
[18] JUNG H K,CRANE Ⅲ C D,ROBERTS R G. Stiffness mapping of compliant parallel mechanisms in a serial arrangement[J]. Mechanism and Machine Theory,2008,43(3):271-284.
[19] ZHAO Chong,GUO Hongwei. Actuation distribution and workspace analysis of a novel 3(3RRlS) metamorphic serial-parallel manipulator for grasping space non-cooperative targets[J]. Mechanism and Machine Theory,2019,139:424-442.
[20] GUO Hongwei,ZHAO Chong,LI Bing. A transformation method to generate the workspace of an n(3RRS) serial-Parallel manipulator[J]. Journal of Mechanical Design,2019,141(9):092301.
[21] 李锐明,姚燕安. 具有缩放平台的串并联蠕动机构[J]. 机械工程学报,2016,52(23):94-101. LI Ruiming,YAO Yanan. Serial-parallel ichworm mechanism with scalable platforms[J]. Journal of Mechanical Engineering,2016,52(23):94-101.
[22] LIU Ran,YAO Yanan. A Novel serial-parallel hybrid worm-like robot with multi-mode undulatory locomotion[J]. Mechanism and Machine Theory,2019,(137):404-431.
[23] LIANGS C,CECCARELLI M. ROMANSY 18 robot design,dynamics and control[M]. Vienna:Springer,2010.
[24] 余同柱,沈惠平,邓嘉鸣,等. 方位特征集法在三平移并联机构型综合中的应用[J]. 机械设计,2012,29(8):52-58. YU Tongzhu,SHEN Huiping,DENG Jiaming,et al. Application of azimuth feature set method in three-translation parallel mechanism type[J]. Synthesis Mechanical Design,2012,29(8):52-58.
[25] 李秦川,黄真. 基于位移子群分析的3自由度移动并联机构型综合[J]. 机械工程学报,2003,39(6):18-21. LI Qinchuan,HUANG zhen. Type synthesis for 3-DOF translational parallel mechanisms based on displacement subgroup[J]. Journal of Mechanical Engineering,2003,39(6):18-21.
[26] 杨廷力,刘安心,罗玉峰,等. 机器人机构拓扑结构设计[M]. 北京:科学出版社,2012. YANG Tingli,LIU Anxin,LUO Yufeng,et al. Theory and application of robot mechanism topology[J]. Beijing:Science Press,2014.
[27] 黄真,赵永生,赵铁石. 高等空间机构学[M]. 北京:高等教育出版社,2014. HUANG Zhen,ZHAO Yongsheng,ZHAO Teishi. Higher space institution[M]. Biejing:Higher Education Press,2014.
[28] 张彦斌,赵浥夫,荆献领,等. 一种空间移动并联机器人机构的设计与分析[J]. 机械科学与技术,2018,37(12):64-71. ZHANG Yanbin,ZHAO Yifu,JING Xianling,et al. Design and analysis of a mechanism for spatial translational parallel robot[J]. Mechanical Science and Technology,2018,37(12):64-71.
[29] 周玉林,高峰. 3-RRR 3自由度球面并联机构静刚度分析[J]. 机械工程学报,2009,45(4):25-33. ZHOU Yulin,GAO Feng. Stiffness analysis of spherical parallel mechanism 3-RRR with 3-DOF[J]. Journal of Mechanical Engineering,2009,45(4):25-33.
[30] 李永泉,宋肇经,郭菲,等. 多能域过约束并联机器人系统动力学建模方法[J]. 机械工程学报,2016,52(21):17-25. LI Yongquan,SONG Zhaojing,GUO Fei,et al. Dynamic modeling method for overconstrained multi-energy domain parallel manipulator[J]. Journal of Mechanical Engineering,2016,52(21):17-25.

与串并联机构运动等效的新型并联机构综合方法研究

Research on Synthesis Method of Novel Parallel Mechanisms with Equivalent Motion to Serial-parallel Mechanism

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	陈凯云, 盛晨原. 多足蠕动式攀爬机器人混联机构运动特性及其工作空间[J]. 机械工程学报, 2023, 59(9): 28-39.
[2]	褚宏鹏, 祁柏, 王慧奇, 邱雪松, 周玉林. 六自由度轮式并联机器人及其构型方法[J]. 机械工程学报, 2023, 59(3): 46-53.
[3]	李海虹, 董晋安, 郭山国, 刘志奇. 动/静平台非一致型并联机构构型分析及设计方法[J]. 机械工程学报, 2023, 59(17): 116-125.
[4]	王成志, 王云超. 运动副间隙及受力状态对空间转向机构转向误差的影响[J]. 机械工程学报, 2022, 58(4): 240-249.
[5]	王森, 韩雪艳, 李浩天, 李浩然, 李仕华. 具有大承载能力的环路解耦两转动并联机构综合方法研究[J]. 机械工程学报, 2021, 57(21): 68-77.
[6]	胡波, 张达, 高俊林, 耿雪雯, 叶妮佳, 姚建涛, 易旺民. 基于共形几何代数求解(4SPS+SPR)+(2RPS+SPR)串并联机构位置正解[J]. 机械工程学报, 2021, 57(13): 102-113.
[7]	陈淼, 张氢, 陈文韬, 秦仙蓉, 孙远韬. 基于空间几何的无伴随运动并联机构分析与综合[J]. 机械工程学报, 2021, 57(1): 77-85.
[8]	朱佳龙, 黄志荣, 郑士昆, 许允斗, 段玉柱, 马小飞. 基于螺旋理论的三棱锥折展机构构型综合与组网[J]. 机械工程学报, 2020, 56(5): 29-38.
[9]	贾璞, 李端玲, 李海源, 闫晓捷, 葛正浩. 基于变胞铰链的并联机构结构设计与构型分析[J]. 机械工程学报, 2020, 56(19): 92-102.
[10]	叶伟, 谢镇涛, 李秦川. 一种可用于微创手术的并联机构运动学分析与性能优化[J]. 机械工程学报, 2020, 56(19): 103-112.
[11]	柴馨雪, 杨泳, 徐灵敏, 李秦川. 2-UPR-RPU并联机器人的动力学建模与性能分析[J]. 机械工程学报, 2020, 56(13): 110-119.
[12]	王森, 李艳文, 陈子明, 宋加涛, 梁文龙, 朱为国. 变轴线生物融合式膝关节康复机构型综合[J]. 机械工程学报, 2020, 56(11): 72-79.
[13]	叶伟, 杨臻, 李秦川. 一种远中心并联机构运动学与性能分析[J]. 机械工程学报, 2019, 55(5): 65-73.
[14]	郭金伟, 许允斗, 刘文兰, 姚建涛, 赵永生. 基于四面体单元的新型可展机构自由度分析[J]. 机械工程学报, 2019, 55(12): 9-18.
[15]	王冰, 方跃法. 一种可重构并联机构的几何约束和自由度分析[J]. 机械工程学报, 2018, 54(7): 28-37.