一种2自由度柔顺移动并联机构研究及其在对接装置上应用

doi:10.3901/JME.2019.11.114

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 114-122.doi: 10.3901/JME.2019.11.114

• 特邀专栏：共融机器人 • 上一篇下一篇

一种2自由度柔顺移动并联机构研究及其在对接装置上应用

杨毅, 鹿碧洲, 李小毛, 姚骏峰, 蒲华燕, 彭艳

上海大学机电工程与自动化学院上海 200444

收稿日期:2018-06-02 修回日期:2019-03-05 出版日期:2019-06-05 发布日期:2019-06-05
通讯作者: 李小毛(通信作者),男,1980年出生,博士,研究员。主要研究方向为海洋机器人技术。E-mail:lixiaomao@shu.edu.cn
作者简介:杨毅,男,1982年出生,博士,副研究员。主要研究方向为机构学和机器人技术。E-mail:yiyangshu@shu.edu.cn;鹿碧洲,男,1993年出生,硕士研究生。主要研究方向为机构设计与仿真。E-mail:sxyclbz@126.com;姚骏峰,男,1990年出生,硕士。主要研究方向为机构设计。E-mail:junfengyao@shu.edu.cn;蒲华燕,女,1982年出生,教授。主要研究方向为机器人技术。E-mail:phygood_2001@shu.edu.cn;彭艳,女,1982年出生,教授。主要研究方向为海洋机器人技术。E-mail:pengyan@shu.edu.cn
基金资助:
国家自然科学基金（91648119，61673254，51675318，U1613226）和国家重点研发计划（2017YFC0806700）资助项目。

Investigation of 2-DOF Compliant Translational Parallel Mechanism and Applied in the Docking Device

YANG Yi, LU Bizhou, LI Xiaomao, YAO Junfeng, PU Huayan, PENG Yan

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444

Received:2018-06-02 Revised:2019-03-05 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

摘要： 利用伪刚体模型研究了柔性曲梁的弹性回复力和刚度特性，推导出了柔性曲梁的直线刚度表达式，其结果表明通过改变曲梁的预变形量可以改善曲梁的刚度特性，使其具有近似线性化刚度特点。利用该特点，提出了一种双曲梁支链结构形式。结合伪刚体模型和螺旋理论，探讨了该双曲梁支链的自由度和运动特性，进而设计出了一种2自由度柔顺移动并联机构。根据机构运动特点，推导出了其简化运动学和动力学方程，给出了并联机构平台的工作空间和刚度性能，对并联机构平台的极限扭转力矩进行了研究，并制作了柔顺移动并联机构实物样机，对其运动特性进行了试验验证。最后，将2自由度柔顺移动并联机构应用于无人艇水样对接装置设计，利用ADAMS仿真了对接过程，结果表明，该装置能在有较大的径向平移偏差和角度偏差的情况下，完成公头和母头的柔顺对接。

关键词: 对接装置, 柔顺移动并联机构, 柔性曲梁, 伪刚体模型

Abstract: The pseudo-rigid-body model is used to study the elastic force and the stiffness characteristics of the flexible curved beam. Based on that, the stiffness of the flexible curved beam is deduced. The results show that the stiffness of the curved beam can be improved by changing the pre-deformation of the curved beam, which makes the curved beam has the characteristics of the approximate linear stiffness. By virtue of this feature, a kind of kinematic chain formed by double curved beams is Proposed. Based on the pseudo-rigid-body model and screw theory, the mobility and the kinematics of the double-curved-beam branch are discussed. A novel 2-DOF compliant translational parallel mechanism is designed. The simplified kinematic and dynamic equations of this mechanism are deduced, and the work space, the stiffness performance and the ultimate torque of the parallel mechanism platform are analyzed. Finally, the prototype of this compliant parallel mechanism is manufactured to verify its kinematic characteristics. The 2-DOF compliant translational parallel mechanism is applied to the design of the docking device of the water sample collection system on USV. The docking process is simulated by ADAMS. The results show that this device makes the docking between the male and female connectors smooth with the circumstance of large radial translational deviation and angular deviation.

Key words: compliant translational parallel mechanism, docking device, flexible curved beam, pseudo-rigid-body

中图分类号:

TH112

杨毅, 鹿碧洲, 李小毛, 姚骏峰, 蒲华燕, 彭艳. 一种2自由度柔顺移动并联机构研究及其在对接装置上应用[J]. 机械工程学报, 2019, 55(11): 114-122.

YANG Yi, LU Bizhou, LI Xiaomao, YAO Junfeng, PU Huayan, PENG Yan. Investigation of 2-DOF Compliant Translational Parallel Mechanism and Applied in the Docking Device[J]. Journal of Mechanical Engineering, 2019, 55(11): 114-122.

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一种2自由度柔顺移动并联机构研究及其在对接装置上应用

Investigation of 2-DOF Compliant Translational Parallel Mechanism and Applied in the Docking Device

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