模块化可重构3T1R并联机器人精准动力学建模

doi:10.3901/JME.260407

摘要/Abstract

摘要： 面向电子封装、精密加工、高性能3D打印等领域高速、高精作业需求，研究一种模块化可重构3T1R并联机器人的精准动力学建模问题。首先，基于螺旋理论解析支链的自由度及其约束特性，揭示出机构末端执行器可实现解耦的三平一转运动。其次，采用几何投影法和闭环矢量法获得机构的位置逆解。利用运动螺旋叠加原理及Lie螺旋性质，依次建立各关节与末端执行器的速度、加速度映射模型。在此基础上，借助螺旋理论表征各构件的惯性力螺旋，并采用虚功原理建立结构紧凑的系统动力学模型。最后，通过SolidWorks&Simscape联合仿真与理论模型计算结果对比，验证动力学模型的正确性。引入评价指标进行误差分析发现，三条支链的力矩误差均小于0.050 3 N·m，平均相对误差小于0.67%；RUPU支链力矩误差小于7.62×10^-5 N·m，平均相对误差小于1.73%；且通过仿真进一步证实了该机器人的平/转运动解耦特性。为实现机器人的高速、高精度控制提供了重要的基础保证。

关键词: 3T1R并联机器人, 螺旋理论, 自由度分析, 动力学建模, 多体仿真

Abstract: Aiming at the high-speed and high-precision operational needs in the fields of electronic packaging, precision machining, and high-performance 3D printing, the accurate dynamic modeling of a modular reconfigurable 3T1R parallel manipulator is investigated. Firstly, based on the screw theory, the degrees of freedom and constraint characteristics of the branch are analyzed, revealing that the end effector of the mechanism can achieve decoupled three-translations and one-rotation motion. Secondly, the inverse position analysis of the mechanism is obtained by the geometric projection method and the closed-loop vector method. The velocity and acceleration mapping models for each joint and the end effector are sequentially established by utilizing the superposition principle of twist screws and the properties of Lie screws. On this basis, the inertia wrench of each component are represented using screw theory, and the compact system dynamics model is established using the principle of virtual work. Finally, the correctness of the dynamic model is verified by comparing the results of the SolidWorks&Simscape collaborative simulation with the theoretical model calculations. Introducing evaluation metrics for error analysis reveals that the torque errors of the three branches are all less than 0.050 3 N·m, with an average relative error of less than 0.67%；the torque error of the RUPU branch chain is less than 7.62×10^-5 N·m, with an average relative error of less than 1.73%；and the decoupling characteristics of the manipulator’s translational/rotational motion are further demonstrated through simulation. It provides an important foundational for high-speed and high-precision control of the manipulator.

Key words: 3T1R parallel manipulator, screw theory, degrees of freedom analysis, dynamic modeling, multibody simulation

中图分类号:

TG112

梁栋, 孙晓, 宋轶民. 模块化可重构3T1R并联机器人精准动力学建模[J]. 机械工程学报, 2026, 62(9): 62-74.

LIANG Dong, SUN Xiao, SONG Yimin. Accurate Dynamics Modeling for a Novel Modular Reconfigurable 3T1R Parallel Manipulator[J]. Journal of Mechanical Engineering, 2026, 62(9): 62-74.

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