面向微小零件装配的新型九自由度运动冗余并联机构

doi:10.3901/JME.2025.21.111

摘要/Abstract

摘要： 微小零件装配是微机电系统、半导体、微型传感器等精密仪器制造的关键步骤之一。在微小零件装配领域，传统并联机构虽具有很高的定位精度，但是其末端执行器的运动范围，特别是转动范围通常十分有限，因而往往难以满足装配空间的需求。为此，提出了一种具有大姿态工作空间的新型九自由度运动冗余并联机构构型，通过分析确定了机构冗余自由度的数目，建立了机构位姿正逆解的运动学模型，并通过数值算例和ADAMS运动学仿真验证了其正确性。同时，针对此类具有多个转动自由度和大姿态工作空间的并联机构，提出了一种新型姿态空间边界搜索策略。在此基础上，得出了机构的可达工作空间，分析了运动冗余对其工作空间的影响，并给出了利用运动冗余对机构姿态空间进行扩展的有效策略，使其绕X、Y、Z轴转动的姿态空间均可达±90°以上。该运动冗余并联机构在微小零件装配领域中具有很好的应用前景。

关键词: 运动冗余并联机构, 位姿分析, 工作空间, 姿态空间, 边界搜索

Abstract: Micro-component assembly is one of the crucial steps in the manufacturing of precision instruments such as micro-electromechanical systems, semiconductors and micro-sensors. In this field, traditional parallel mechanisms, despite their high positioning accuracy, often fail to meet the demands of assembly space due to limitations in motion ranges, especially rotational ranges of their end effectors. To address this, a novel 9-degree-of-freedom (DOF) kinematically redundant parallel mechanism (KRPM) with a large orientational workspace is proposed. Through analysis, the number of the mechanism's redundant DOFs is determined. Kinematic models for the forward and inverse solutions of the mechanism’s pose analysis are established and verified using numerical example and ADAMS kinematic simulation. Then, a novel orientational workspace boundary search strategy is introduced, tailored for parallel mechanisms with multiple rotational DOFs and large orientational workspace. This strategy helps determine the mechanism’s reachable workspace and analyze the influence of the kinematic redundancy on its workspace. Also, effective strategies for the extension of the mechanism’s orientational workspace using kinematic redundancy are provided, enabling it to achieve an orientational workspace of over ±90° around the X, Y, and Z axes. The proposed KRPM exhibits great application potential in the field of micro-component assembly.

Key words: kinematically redundant parallel mechanism, pose analysis, workspace, orientational workspace, boundary search

中图分类号:

TP24

郑瑞达, 张宪民. 面向微小零件装配的新型九自由度运动冗余并联机构[J]. 机械工程学报, 2025, 61(21): 111-128.

ZHENG Ruida, ZHANG Xianmin. Novel 9-Degree-of-freedom Kinematically Redundant Parallel Mechanism for Micro-component Assembly[J]. Journal of Mechanical Engineering, 2025, 61(21): 111-128.

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