带位移传感器的6-UPS并联机构运动学正解

doi:10.3901/JME.2018.05.001

机械工程学报 ›› 2018, Vol. 54 ›› Issue (5): 1-7.doi: 10.3901/JME.2018.05.001

• 机构学及机器人 • 下一篇

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带位移传感器的6-UPS并联机构运动学正解

刘艳梨^1,2, 程世利³, 蒋素荣¹, 杨小龙¹, 李耀¹, 吴洪涛¹

1. 南京航空航天大学机电学院南京 210016;
2. 江苏安全技术职业学院机械工程系徐州 221011;
3. 盐城工学院机械工程学院盐城 224051

收稿日期:2016-10-09 修回日期:2017-06-29 出版日期:2018-03-05 发布日期:2018-03-05
通讯作者: 程世利(通信作者),男,1981年出生,讲师。主要研究方向为并联机构以及机械多体系统动力学。E-mail:meecsl@126.com
作者简介:刘艳梨,女,1982年出生,讲师,博士研究生。主要研究方向为并联机器人、复杂机械多体系统动力学及其控制。E-mail:mee_liuyanli@126.com;蒋素荣,女,1979年出生,讲师,博士研究生。主要研究方向为机器人技术及机械多体动力学。E-mail:jsrong@nuaa.edu.cn;吴洪涛,男,1962年出生,教授,博士研究生导师。主要研究方向为机械多体系统理论与应用,机器人与并联运动机器。E-mail:mehtwu@126.com
基金资助:
国家自然科学基金（51375230，51405417）、江苏省高校自然科学研究面上项目（17KJB460003）和江苏省自然科学基金（BK20140470）资助项目。

Forward Kinematics of 6-UPS Parallel Manipulators with One Displacement Sensor

LIU Yanli^1,2, CHENG Shili³, JIANG Surong¹, YANG Xiaolong¹, LI Yao¹, WU Hongtao¹

1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016;
2. Department of Mechanical Engineering, Jiangsu College of Safety Technology, Xuzhou 221011;
3. School of Mechanical Engineering, Yancheng Institute of Technology, Yancheng 224051

Received:2016-10-09 Revised:2017-06-29 Online:2018-03-05 Published:2018-03-05

摘要/Abstract

摘要： 闭环实时反馈控制依据运动学正解，但是运动学正解问题一直没有彻底解决。6-UPS并联机构（6-UPS）的运动学解析正解可通过消除变量，获得一元高次多项式方程，也有通过添加至少2个附加位移传感器方法求解，虽然随着研究的深入有所进展，但是仍然不足以应用于实时的闭环反馈控制。为了高性能的闭环实时反馈控制，提出一种6-UPS运动学正解的解析算法：在平面平台型6-UPS中心添加一个位移传感器，通过测出第7个杆长，基于四元数并采用新符号表示动平台的姿态矩阵，结合代数消元等方法对11个相容方程进行降次、降次、升次处理，最终求出面向闭环实时反馈控制所需要的6-UPS机构解析正解，解决了奇异性局限，且位置和姿态可获得唯一解，解决了多解选择的难题。通过数值算例验证了所提算法的正确性和有效性。

关键词: 并联机构, 解析算法, 位移传感器, 运动学正解

Abstract: The closed-loop real-time feedback control requires the forward kinematics analysis, which has not been solved completely in the field of parallel robots. A system of high degree univariate polynomial equations of the analytical forward kinematics analysis of 6-UPS parallel manipulators (6-UPS) can be obtained by eliminating variables. Also they can be analyzed by adding at least 2 extra displacement sensors. Although with this progress, it is still not capable to be applied to the real-time closed-loop feedback control. In order to achieve the closed-loop feedback control with high performance, a new analytical algorithm is proposed. In the new algorithm, only one displacement sensor is installed in the center of 6-UPS to obtain the seventh rod length, the elements of rotation matrix based on quaternions are replaced by new symbols, and the 11 compatible equations can be solved by reducing the degree twice and then raising the degree of the equations' variables combining with algebraic elimination methods. The analytical forward kinematics solutions of 6-UPS, which is needed by the closed-loop real-time feedback control system, are obtained in the end. Taking advantages of the proposed method, the singularity problem is solved and the multi-solution problem is also solved because unique position and orientation can be obtained. Finally, one numerical example is presented and the result is verified. Results indicate that the proposed forward kinematics algorithm is both correct and effective.

Key words: analytical algorithm, displacement sensor, forward kinematics, parallel mechanisms

中图分类号:

TH112
TP242

刘艳梨, 程世利, 蒋素荣, 杨小龙, 李耀, 吴洪涛. 带位移传感器的6-UPS并联机构运动学正解[J]. 机械工程学报, 2018, 54(5): 1-7.

LIU Yanli, CHENG Shili, JIANG Surong, YANG Xiaolong, LI Yao, WU Hongtao. Forward Kinematics of 6-UPS Parallel Manipulators with One Displacement Sensor[J]. Journal of Mechanical Engineering, 2018, 54(5): 1-7.

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带位移传感器的6-UPS并联机构运动学正解

Forward Kinematics of 6-UPS Parallel Manipulators with One Displacement Sensor

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