基于2UPU-2SPR的新型五自由度混联机器人

doi:10.3901/JME.2025.01.114

机械工程学报 ›› 2025, Vol. 61 ›› Issue (1): 114-122.doi: 10.3901/JME.2025.01.114

• 机器人及机构学 • 上一篇

扫码分享

基于2UPU-2SPR的新型五自由度混联机器人

张展魁, 岳义, 韦宝琛, 李修广, 廖忠骏, 许朝阳

上海工程技术大学机械与汽车工程学院上海 201620

收稿日期:2024-02-27 修回日期:2024-08-02 发布日期:2025-02-26
作者简介:张展魁，男，1998年出生。主要研究方向为机器人学与机构学。E-mail：zzk15963@163.com
岳义(通信作者)，男，1973年出生，副教授。主要研究方向为机器人学与机构学。E-mail：yueyi0926@163.com
基金资助:
上海市地方院校能力建设(22010501700)和国家自然科学基金(51905337)资助项目。

Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR

ZHANG Zhankui, YUE Yi, WEI Baochen, LI Xiuguang, LIAO Zhongjun, XU Zhaoyang

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620

Received:2024-02-27 Revised:2024-08-02 Published:2025-02-26

摘要/Abstract

摘要： 提出一种2UPU-2SPR (U：虎克铰，P：移动副，R：转动副)的新型两转一移(2R1T)并联机构，该机构中两条SPR运动支链的R副轴线互相垂直，存在两种不同的空间布局方式；两种不同构型在定平台处均存在两条连续转轴，且每个运动支链均提供一个约束，构成空间约束力系。基于所提2UPU-2SPR并联机构设计了一种新型的可用于重载应用领域的五自由度混联机器人，并通过闭环矢量法、Sylvester消元法求解了该混联机器人的解析解逆解；通过提炼关键几何模型，将空间三维问题转化为二维平面问题，获得混联机器人解析正解。基于算例和Adams仿真验证了所推导解析正、逆解模型的正确性。在此基础上，求解了混联机器人的工作空间，并完成了五自由度混联机器人虚拟样机设计。该混联机器人在重载加工领域具有良好的应用前景。

关键词: 2R1T并联机构, 连续转轴, 混联机器人, 解析正逆解

Abstract: A novel two rotational and one translational parallel mechanism based on the 2UPU-2SPR is presented. The R-axis lines of the two SPR limbs are perpendicular, resulting in two spatial layout. Both configurations feature two continuous rotation axes at the base, with each limb providing one constraint, forming a spatial constraint force system. A novel five-degree-of-freedom (5-DOF) hybrid robot for heavy-duty applications is designed based on the proposed 2UPU-2SPR parallel mechanism. Analytical inverse kinematics solutions for this HR are obtained using closed-loop vector method and Sylvester elimination method. By extracting key geometric models and transforming the spatial three-dimensional problem into a two-dimensional plane problem, analytical forward kinematics solutions for the hybrid robot are derived. The correctness of the analytical forward and inverse kinematics models is validated through numerical examples and Adams simulations. Furthermore, the workspace of the hybrid robot is determined, and a virtual prototype design for the 5-DOF hybrid robot is accomplished. The presented HR demonstrates promising prospects in the field of heavy-duty machining.

Key words: 2R1T parallel mechanism, continuous rotation axis, hybrid robot, analytical forward and inverse kinematics solutions

中图分类号:

TP242

张展魁, 岳义, 韦宝琛, 李修广, 廖忠骏, 许朝阳. 基于2UPU-2SPR的新型五自由度混联机器人[J]. 机械工程学报, 2025, 61(1): 114-122.

ZHANG Zhankui, YUE Yi, WEI Baochen, LI Xiuguang, LIAO Zhongjun, XU Zhaoyang. Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR[J]. Journal of Mechanical Engineering, 2025, 61(1): 114-122.

参考文献

[1] BI Z M，JIN Y. Kinematic modeling of exechon parallel kinematic machine[J]. Robotics and Computer Integrated Manufacturing，2011，27(1)：186-193.
[2] 李秦川，柴馨雪，陈巧红，等. 2-UPR-SPR并联机构转轴分析[J]. 机械工程学报，2013，49(21)：62-69. LI Qinchuan，CHAI Xinxue，CHEN Qiaohong，et al. Analysis of rotational axes of 2-UPR-SPR parallel mechanism[J]. Journal of Mechanical Engineering，2013，49(21)：62-69.
[3] ZHANG Jun，ZHAO Yanqin，JIN Yan. Elastodynamic modeling and analysis for an exechon parallel kinematic machine[J]. Journal of Manufacturing Science and Engineering，2015，138(3)：031011.
[4] HUANG T，LI M，ZHAO X M，et al. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot[J]. IEEE Transactions on Robotics：A publication of the IEEE Robotics and Automation Society，2005，21(3)：449-456.
[5] XU Yundou，XU Zhenghe，YANG Fan，et al. Design and analysis of a new 5-Dof hybrid serial-parallel manipulator[C]// Recent Advances in Mechanisms，Transmissions and Applications：Proceedings of the Fifth MeTrApp Conference 2019，Springer，2020：301-311.
[6] YE Hao，WANG Dong，WU Jun，et al. Forward and inverse kinematics of a 5-DOF hybrid robot for composite material machining[J]. Robotics and Computer-Integrated Manufacturing，2020，65：101961.
[7] XU Y，YANG F，MEI Y，et al. Kinematic，workspace and force analysis of a five-DOF hybrid manipulator R(2RPR)R/ SP+RR[J]. Chinese Journal of Mechanical Engineering，2022，35(5)：248-259.
[8] XU Yundou，HU Jianhua，ZHANG Dongsheng，et al. A five-degree-of-freedom hybrid manipulator for machining of complex curved surface[C]// Intelligent Robotics and Applications：Proceedings of the 10th lnternational Conference on Intelligent Robotics and Applications. Springer，2017：48-58.
[9] ZHANG Dongsheng，XU Yundou，YAO Jiantao，et al. Analysis and optimization of a spatial parallel mechanism for a new 5-DOF hybrid serial-parallel manipulator[J]. Chinese Journal of Mechanical Engineering，2018，31(1)：54.
[10] WANG Feibo，CHEN Qiaohong，LI Qinchuan. Optimal design of a 2-UPR-RPU parallel manipulator[J]. Journal of Mechanical Design，2015，137(5)：054501.
[11] WAHL J. Articulated tool head：US，US6431802[P]. 2000-11-05.
[12] CHEN Xiang，LIU Xinjun，XIE Fugui，et al. A comparison study on motion/force transmissibility of two typical 3-DOF parallel manipulators：The sprint Z3 and A3 tool heads[J]. International Journal of Advanced Robotic Systems，2014，11(1)：5.
[13] LI Y G，LIU H T，ZHAO X M，et al. Design of a 3-DOF PKM module for large structural component machining[J]. Mechanism and Machine Theory，2010，45(6)：941-954.
[14] HUANG Tian，LIU Haitao. Parallel mechanism having two rotational and one translational degrees of freedom：US，US20070915739[P]. 2008-08-14.
[15] 陈子明，张扬，黄坤，等. 一种无伴随运动的对称两转一移并联机构[J]. 机械工程学报，2016，52(3)：9-17. CHEN Ziming，ZHANG Yang，HUANG Kun，et al. Symmetrical 2R1T parallel mechanism without parasiticmotion[J]. Journal of Mechanical Engineering，2016，52(3)：9-17.
[16] 许允斗，赵云，张东胜，等. 基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人[J]. 航空学报，2019，40(6)：283-293. XU Yundou，ZHAO Yun，ZHANG Dongsheng，et al. Five-degrees-of freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints[J]. Acta Aeronautica et Astronautica Sinica，2019，40(6)：283-293.
[17] HOSSEINI M A，DANIALI H R M，TAGHIRAD H D. Dexterous workspace optimization of a Tricept parallel manipulator[J]. Advanced Robotics，2011，25(13-14)：1697-1712.
[18] HUANG Tian，DONG Chenglin，LIU Haitao，et al. Five- degree-of-freedom hybrid robot with rotational supports：US，US15397793[P]. 2017-04-27.
[19] DONG Chenglin，LIU Haitao，YUE Wei，et al. Stiffness modeling and analysis of a novel 5-DOF hybrid robot[J]. Mechanism and Machine Theory，2018，125：80-93.
[20] DONG C，LIU H，LIU Q，et al. An approach for type synthesis of overconstrained 1T2R parallel mechanisms[C]// Computational Kinematics：Proceedings of the 7th International Workshop on Computational Kinematics，Futuroscope-Poitiers，Springer，2018：274-281.
[21] LI Qinchuan，CHEN Qiaohong，WU Chuanyu，et al. Geometrical distribution of rotational axes of 3-[P][S] parallel mechanisms[J]. Mechanism and Machine Theory，2013，65：46-57.

基于2UPU-2SPR的新型五自由度混联机器人

Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 13

编辑推荐

Metrics

本文评价

[1]	刘晓飞, 万波, 王雨, 李鸣宇, 赵永生. 新型超冗余驱动混联机器人设计分析与性能优化[J]. 机械工程学报, 2024, 60(3): 55-67.
[2]	王明昊, 汪满新. 一种新型五自由度混联机器人动力学建模与性能评价[J]. 机械工程学报, 2023, 59(9): 63-75.
[3]	刘辛军, 谢福贵, 杨迪, 解增辉, 孟齐志. 现代科技创新研究模式探讨[J]. 机械工程学报, 2022, 58(11): 1-10.
[4]	谢福贵, 梅斌, 刘辛军, 张加波, 乐毅. 一种大型复杂构件加工新模式及新装备探讨[J]. 机械工程学报, 2020, 56(19): 70-78.
[5]	许允斗, 胡建华, 张东胜, 侯照伟, 姚建涛, 赵永生. 一种所有转轴均连续的五自由度混联机器人机构[J]. 机械工程学报, 2018, 54(21): 19-24.
[6]	李永泉, 单张兵, 王立捷, 张立杰. 4-DOF混联机器人多能域动力学全解模型及试验[J]. 机械工程学报, 2017, 53(23): 92-100.
[7]	李仕华, 田志立, 王子义, 韩雪艳. 具有连续转轴的对称2R1T三自由度并联机构型综合[J]. 机械工程学报, 2017, 53(23): 74-82.
[8]	史小华, 任岭雪, 廖梓宇, 朱家增, 王洪波. 空间四自由度串并混联下肢康复机器人设计与分析[J]. 机械工程学报, 2017, 53(13): 48-54.
[9]	吴腾张武翔丁希仑. 一种新型并联变胞机构的设计与分析[J]. 机械工程学报, 2015, 51(7): 30-37.
[10]	潘伯钊;宋轶民;王攀峰;董罡;孙涛. 基于激光跟踪仪的混联机器人快速零点标定方法[J]. , 2014, 50(1): 31-37.
[11]	李秦川;柴馨雪;陈巧红;黄真. 2-UPR-SPR并联机构转轴分析[J]. , 2013, 49(21): 62-69.
[12]	沈惠平;赵海彬;邓嘉鸣;孟庆梅;朱伟;杨廷力. 基于自由度分配和方位特征集的混联机器人机型设计方法及应用[J]. , 2011, 47(23): 56-64.
[13]	陈泉柱;陈伟海;刘荣;张建斌. 具有关节角反馈的绳驱动拟人臂机器人机构设计与张力分析[J]. , 2010, 46(13): 83-90.