• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (13): 36-49.doi: 10.3901/JME.2022.13.036

• 机器人及机构学 • 上一篇    下一篇



孟齐志1,2, 谢福贵1,2, 张赛3, 刘辛军1,2   

  1. 1. 清华大学机械工程系 北京 100084;
    2. 清华大学精密超精密制造装备及控制北京市重点实验室 北京 100084;
    3. 济南翼菲自动化科技有限公司 济南 250000
  • 收稿日期:2021-09-10 修回日期:2022-02-28 出版日期:2022-07-05 发布日期:2022-09-13
  • 通讯作者: 刘辛军(通信作者),男,1971年出生,博士,教授,博士研究生导师,国家杰出青年科学基金获得者,教育部"长江学者"特聘教授,国家"万人计划"领军人才。主要研究方向为机构学与机器人、先进制造装备。E-mail:xinjunliu@mail.tsinghua.edu.cn
  • 作者简介:孟齐志,男,1992年出生,博士后,清华大学水木学者。主要研究方向为机构学与机器人、高性能高速并联机器人。E-mail:qizhimeng@mail.tsinghua.edu.cn
  • 基金资助:

Type Synthesis and Dimensional Optimization of a High-speed and High-acceleration Parallel Robot

MENG Qizhi1,2, XIE Fugui1,2, ZHANG Sai3, LIU Xinjun1,2   

  1. 1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
    2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084;
    3. Robotphoenix LLC, Jinan 250000
  • Received:2021-09-10 Revised:2022-02-28 Online:2022-07-05 Published:2022-09-13

摘要: 高速并联机器人因其通用性和适用性,有望成为电子、食品和医药等行业中保障质量、提高效率和降低成本的核心装备,具有重要的学术研究和工程应用价值。围绕高速并联机器人的双动平台优势特征,提出平台间耦合策略,建立基于平台间耦合策略的线几何图谱化高速并联机器人构型综合方法,实现双动平台型高速并联机器人构型创新设计;针对优势机器人构型,采用双动平台型并联机器人运动和力传递特性指标体系,优化设计出一组高性能高速并联机器人尺度参数;开展样机研发、实验研究与应用验证,结果表明:TH-SR4并联机器人具备高速高加速品质,在高速分拣与操作领域具有应用前景。

关键词: 高速并联机器人, 高加速并联机器人, 构型综合, 双动平台, 性能评价, 尺度优化

Abstract: High-speed parallel robots are expected to become the core equipment to ensure quality, improve efficiency and reduce cost in electronics, food, medicine, and other industries because of their universality and applicability. This type of robot is of great value in both academia and engineering. The advantages of articulated platforms of high-speed parallel robots are discovered, and the coupling strategy between the sub-platforms is proposed. A line geometry-based graphical type synthesis method is established with the help of the proposed coupling strategy. Then the method is used to design high-speed parallel robots with articulated platforms. Dimensional synthesis of a proposed advantageous parallel robot is carried out to obtain a set of high-performance geometric parameters based on motion/force transmission indices. Based on the above foundations, a prototype named TH-SR4 is developed and tested. The results show that the developed TH-SR4 parallel robot has high-speed and high-acceleration qualities, and has application prospects in the field of high-speed pick-and-place operations.

Key words: high-speed parallel robot, high-acceleration parallel robot, type synthesis, articulated platforms, performance evaluation, dimensional optimization