• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (3): 31-40.doi: 10.3901/JME.2020.03.031

• 机器人及机构学 • 上一篇    下一篇

非对称3-PRS机构运动等效机构演化及约束性能对比分析

胡波1,2, 施东生1,2, 史艳国1,2, 张达1,2, 叶妮佳1,2   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004;
    2. 燕山大学先进锻压成形技术与科学教育部重点实验室 秦皇岛 066004
  • 收稿日期:2019-05-22 修回日期:2019-09-27 出版日期:2020-02-05 发布日期:2020-04-09
  • 通讯作者: 胡波(通信作者),男,1982年出生,教授,博士研究生导师。主要研究方向为并联机器人理论。E-mail:hubo@ysu.edu.cn
  • 基金资助:
    国家自然科学基金(51305382)、河北省杰出青年基金(E2017203094)和河北省研究生创新(CXZZBS2018043)资助项目。

Kinematically Identical Manipulators for an Asymmetric 3-PRS Parallel Manipulator and Their Constraint Performance Comparison Study

HU Bo1,2, SHI Dongsheng1,2, SHI Yanguo1,2, ZHANG Da1,2, YE Nijia1,2   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004
  • Received:2019-05-22 Revised:2019-09-27 Online:2020-02-05 Published:2020-04-09

摘要: 少自由度并联机构存在运动等效机构,表现为多种结构不同的机构运动学完全相同而性能各异,从具有运动等效特性的一组机构中遴选出性能优异的机型具有重要意义。基于运动等效机构的演化机理导出了一种非对称3-PRS机构的三种无过约束和三种含过约束的运动等效机构。基于运动/力传递指标对非对称3-PRS机构及其运动等效机构进行了优化设计,得到了优化尺寸区域。针对非对称3-PRS机构及其运动等效机构运动学相同而约束不同导致机构约束性能各异的特点,建立了此类机构的约束性能指标,在运动/力传递性能优化尺寸下,绘制了各机构的约束性能图谱,求解了各机构的全局约束指标,完成了此类机构的约束性能对比研究,实现了非对称3-PRS机构及其运动等效机构兼顾传递和约束性能的机构优选。

关键词: 并联机构, 运动等效, 传递性能, 约束性能, 构型优选

Abstract: Some limited-dof parallel manipulators (PMs) with different architectures have identical kinematics and different performances are called kinematically identical manipulators (KIMs). Selecting the PMs with good performances in KIMs is a significant work. Based on the principle of deriving KIMs, three non-overconstrained and three overconstrained KIMs of the asymmetric 3-PRS PM are derived. According to motion/force transmission indices, the optimal design of the PMs is performed and the optimal area is obtained. Based on the property that the asymmetric 3-PRS PM and its KIMs have identical kinematics but different constraints, the constraint indices of KIMs are established and the performance atlases of constraint performance are drawn under the optimal parameters. Global constraint indices (GCI) of the PMs are solved and the constraint performance is compared among them. Optimal selection considering both transmission and constraint performance for the asymmetric 3-PRS PM and its KIMs is realized.

Key words: parallel manipulator, kinematically identical, transmission performance, constraint performance, select configuration

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