• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 112-120.doi: 10.3901/JME.2023.05.112

• 机器人及机构学 • 上一篇    下一篇

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基于3-RRP并联机构的腕关节设计与分析

孙鹏1,2, 戴显永1,2, 李研彪1,2, 杨奎1,2   

  1. 1. 浙江工业大学机械工程学院 杭州 310023;
    2. 特种装备制造与先进加工技术教育部/浙江省重点实验室 杭州 310023
  • 收稿日期:2022-04-19 修回日期:2022-12-09 出版日期:2023-03-05 发布日期:2023-04-20
  • 通讯作者: 李研彪(通信作者),男,1978年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学及其应用。E-mail:lybrory@zjut.edu.cn
  • 作者简介:孙鹏,男,1991年出生,博士,助理研究员。主要研究方向为混联机构。E-mail:sunpeng@zjut.edu.cn
  • 基金资助:
    国家自然科学基金(52105037, U21A20122, 51975523)和浙江省自然科学基金杰出青年基金(LR18E050003)资助项目。

Design and Analysis of Wrist Joint Based on 3-RRP Parallel Mechanism

SUN Peng1,2, DAI Xianyong1,2, LI Yanbiao1,2, YANG Kui1,2   

  1. 1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023;
    2. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023
  • Received:2022-04-19 Revised:2022-12-09 Online:2023-03-05 Published:2023-04-20

摘要: 针对球面3-RRP并联机构的理论分析不足以致运动学与动力学特性不明确的问题,设计了该构型的具体结构,分析了其运动学传递约束与驱动力矩特性。根据关于位置反解的Panda-Kahan理论,明确了灵活姿态空间与可达姿态空间的分布情况。基于旋量互易积,建立了关节的运动传递与约束能效系数。在此基础上,应用多参数平面模型技术,进一步揭示了参数尺度、姿态空间、性能指标之间的耦合关系,从而确定了参数取值,明晰了优质姿态空间范围和性能指标分布趋势。并基于虚功原理,建立了动力学模型,定性分析了驱动力矩特性。研究结果表明:该腕关节机构兼具机构紧凑、姿态空间大、完全的运动约束性能与优秀的运动传递性能、大负载重量比的特点,符合人体腕关节功能特性。

关键词: 仿人腕关节, 球面3-RRP并联机构, 尺度优化, 性能分析

Abstract: Aiming at the problem that the theoretical analysis of spherical 3-RRP parallel mechanism is insufficient, resulting in unclear kinematics and dynamic characteristics, the specific structure of the mechanism is designed, and the kinematic characteristics of transfer and constraint and driving torque characteristics are analysed. According to the Panda-Kahan theory about inversed position solution, the distribution of flexible and reachable orientation space are clarified. Based on the reciprocal product of screw vector, the transfer and constraint energy efficiency coefficients of joints are established. On this basis, the multi-parameter plane model technology is applied to further reveal the coupling relationship among parameter scale, orientation space and performance index. Thereby,the parameter value is determined, and the range of high-quality orientation space and the distribution trend of performance index are illustrated. Based on the principle of virtual work, the dynamic model is derived, and the driving torque characteristic is qualitatively analysed. The results show that the wrist mechanism takes into account the characteristics of compact structure, large posture space, complete constraint performance, excellent transfer performance, and high load-weight ratio, which is in line with the functional characteristics of human wrist.

Key words: humanoid wrist joint, spherical 3-RRP parallel mechanism, scale optimization, performance analysis

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