TriMule与Exechon机器人的切向运动传递特性同性条件及运动学性能分析

doi:10.3901/JME.2021.15.023

机械工程学报 ›› 2021, Vol. 57 ›› Issue (15): 23-32.doi: 10.3901/JME.2021.15.023

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TriMule与Exechon机器人的切向运动传递特性同性条件及运动学性能分析

董成林, 李锦涛, 刘海涛, 黄田

天津大学机构理论与装备设计教育部重点实验室天津 300354

收稿日期:2020-08-15 修回日期:2020-11-19 出版日期:2021-08-05 发布日期:2021-11-03
通讯作者: 刘海涛(通信作者),男,1981年出生,教授,博士研究生导师。主要研究方向为机器人机构学,工业机器人与智能制造。E-mail:liuht@tju.edu.cn
作者简介:董成林,男,1992年出生,博士研究生。主要研究方向为机器人机构学。E-mail:chenglindong_tju@tju.edu.cn;李锦涛,男,1995年出生,博士研究生。主要研究方向为机器人机构学。E-mail:lijintao@tju.edu.cn;黄田,男,1953年出生,教授,博士研究生导师。主要研究方向为制造装备与系统,机器人学,机械动力学。E-mail:tianhuang@tju.edu.cn
基金资助:
国家重点研发计划（2017YFB1301800）和国家自然科学基金（91948301，51721003）资助项目。

Isotropy of Tangential Motion Transmissibility and Kinematic Performance Analysis of TriMule and Exechon Robots

DONG Chenglin, LI Jintao, LIU Haitao, HUANG Tian

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354

Received:2020-08-15 Revised:2020-11-19 Online:2021-08-05 Published:2021-11-03

摘要/Abstract

摘要： 为对比分析TriMule和Exechon机器人机构的运动学性能，利用旋量理论建立二者并联机构的量纲一雅可比矩阵，提出适用于此类机构的切向和法向运动传递特性，据此构造出两种机构的局部和全局运动学性能评价指标。在给定参考位形下，推导出两种机构切向运动传递特性同性条件的解析表达。在此基础上，研究两种机构在参考位形下和任务工作空间全域内切向和法向运动传递特性随关键设计角度的变化规律，以及局部与全局运动传递特性间的关联关系，得到两种机构具有相似的运动学性能且局部与全局运动传递特性呈线性相关的结论。

关键词: 并联机构, 运动学性能, 各向同性

Abstract: For comparing and analyzing the kinematic performance of TriMule and Exechon robots, the dimensionally homogeneous Jacobian matrices of the parallel mechanisms within two robots are derived using the screw theory. With the aid of the Jacobian matrix, the tangential and normal motion transmissibilities as well as a set of local and global indices suitable for evaluating the kinematic performance of this kind of mechanism are proposed. By defining a reference configuration, isotropic conditions of tangential motion transmissibility of two mechanisms are analytically derived. Then, the variations of tangential and normal motion transmissibilities versus a key angle, and the relationships between local and global motion transmissibilities of two mechanisms are intensively investigated. The results show that the kinematic performance of two mechanisms is competitive; moreover, the local and global motion transmissibilities of either mechanism are linearly related.

Key words: parallel mechanism, kinematic performance, isotropy

中图分类号:

TG156

董成林, 李锦涛, 刘海涛, 黄田. TriMule与Exechon机器人的切向运动传递特性同性条件及运动学性能分析[J]. 机械工程学报, 2021, 57(15): 23-32.

DONG Chenglin, LI Jintao, LIU Haitao, HUANG Tian. Isotropy of Tangential Motion Transmissibility and Kinematic Performance Analysis of TriMule and Exechon Robots[J]. Journal of Mechanical Engineering, 2021, 57(15): 23-32.

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TriMule与Exechon机器人的切向运动传递特性同性条件及运动学性能分析

Isotropy of Tangential Motion Transmissibility and Kinematic Performance Analysis of TriMule and Exechon Robots

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