含冗余驱动支链4-UPS&UP并联机构的运动学性能分析

doi:10.3901/JME.2016.05.124

机械工程学报 ›› 2016, Vol. 52 ›› Issue (5): 124-129.doi: 10.3901/JME.2016.05.124

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含冗余驱动支链4-UPS&UP并联机构的运动学性能分析

董成林, 刘海涛, 黄田

天津大学机构理论与装备设计教育部重点实验室天津 300072

出版日期:2016-03-05 发布日期:2016-03-05
作者简介:董成林,男,1992年出生,博士研究生。主要研究方向为机器人机构学。E-mail：chenglindong_tju@tju.edu.cn ;刘海涛(通信作者),男,1981年出生,博士,副教授。主要研究方向为制造装备与系统,机器人学。E-mail：liuht@tju.edu.cn ;黄田,男,1953年出生,教授,博士研究生导师。主要研究方向为制造装备与系统,机器人学,机械动力学。E-mail：tianhuang@tju.edu.cn
基金资助:
国家重点基础研究发展计划(973计划,2014CB046603)和国家自然科学基金(51420105007)资助项目

Kinematic Performance Analysis of Redundantly Actuated 4-UPS&UP Parallel Manipulator

DONG Chenglin, LIU Haitao, HUANG Tian

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072

Online:2016-03-05 Published:2016-03-05

摘要/Abstract

摘要： 分析含冗余驱动支链4-UPS&UP并联机构的运动学性能,该并联机构由著名的Tricept机器人并联模块3-UPS&UP机构增加一条无约束驱动支链所得。因冗余驱动支链的引入,该并联机构比3-UPS&UP机构拥有更高的承载能力和更好的静、动态性能。在建立4-UPS&UP机构的位置逆解模型和广义雅可比矩阵的基础上,得到驱动关节速度到动平台参考点线速度的量纲一雅可比矩阵,并据该矩阵的条件数提出局部运动学性能评价指标。最后,在同尺度下对4-UPS&UP和3-UPS&UP并联机构的运动学性能进行了对比分析,得到前者运动学性能优于后者的结论。

关键词: 并联机构, 冗余驱动, 运动学性能

Abstract: The kinematic performance analysis of a redundantly actuated 4-UPS&UP parallel manipulator is dealt, which is a modified version of the 3-UPS&UP parallel mechanism within the Tricept robot by adding a 6-DOF active limb. Compared to the 3-UPS&UP mechanism, the proposed mechanism has higher payload capability and higher static/dynamic performance thanks to the additional active limb. On the basis of the inverse kinematics and the derivation of the 7×6 generalized Jacobian of the 4-UPS&UP mechanism, the 4×3 dimensionless Jacobian can be obtained, which is the mapping between the rates of the actuated joints and the linear velocity of the reference point on the platform, and its condition number is then proposed as the local kinematic performance index. By carrying out the comparison study between the 4-UPS&UP and the 3-UPS&UP mechanisms given the same set of dimensional parameters, it is concluded that the kinematic performance of the 4-UPS&UP mechanism is higher than that of the 3-UPS&UP mechanism.

Key words: kinematic performance, parallel mechanisms, redundantly actuated

中图分类号:

TG156

董成林, 刘海涛, 黄田. 含冗余驱动支链4-UPS&UP并联机构的运动学性能分析[J]. 机械工程学报, 2016, 52(5): 124-129.

DONG Chenglin, LIU Haitao, HUANG Tian. Kinematic Performance Analysis of Redundantly Actuated 4-UPS&UP Parallel Manipulator[J]. Journal of Mechanical Engineering, 2016, 52(5): 124-129.

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含冗余驱动支链4-UPS&UP并联机构的运动学性能分析

Kinematic Performance Analysis of Redundantly Actuated 4-UPS&UP Parallel Manipulator

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