4-RṞ(SS)2高速并联机器人动力尺度综合

doi:10.3901/JME.2022.01.029

摘要/Abstract

摘要： 研究一种新型四自由度高速并联机器人动力尺度综合方法。该机构以RṞ（SS）₂为支链且具有单动平台结构，与采用双动平台结构的此类机构相比，末端动平台质量更轻，从而具有良好的加减速性能。建立机构运动学和动力学模型，并构造出可反映机构运动和力传递特性的链内/链间压力角，以及以单轴最大驱动扭矩全域最大值最小的动力学性能评价指标。在此基础上，综合考虑装配尺寸等几何约束和运动学性能约束，建立了以使机构动力学性能最优的机构尺度综合模型。在探究压力角和动力学性能随尺度变化规律后，给定具体约束条件，通过遗传算法优化得到一组最优尺度，并基于在Lamé抓放轨迹上运动仿真完成伺服电动机参数预估。

关键词: 高速并联机器人, 尺度综合, 动力学性能

Abstract: A new method of dynamic dimension synthesis for 4-DOF high-speed parallel robot is studied. The mechanism takes RR (SS) 2 as the branch chain and has a single acting platform structure. Compared with the mechanism with double acting platform structure, the end moving platform has lighter weight and better acceleration and deceleration performance. The kinematic and dynamic models of the mechanism are established, and the pressure angle between the chain and the chain which can reflect the motion and force transmission characteristics of the mechanism are constructed, and the dynamic performance evaluation index with the minimum maximum single shaft driving torque in the whole area is constructed. On this basis, considering the geometric constraints such as assembly size and kinematic performance constraints, a mechanism dimension synthesis model is established to optimize the dynamic performance of the mechanism. After exploring the variation law of pressure angle and dynamic performance with scale, a set of optimal dimensions is obtained by genetic algorithm optimization with specific constraints, and the servo motor parameters are estimated based on the motion simulation on the Lame grasping and releasing trajectory.

Key words: high speed parallel robot, dimension synthesis, dynamic performance

中图分类号:

TH122

张惠普, 汪满新. 4-RṞ(SS)₂高速并联机器人动力尺度综合[J]. 机械工程学报, 2022, 58(1): 29-40.

ZHANG Huipu, WANG Manxin. Dynamic Dimension Synthesis of 4-RṞ(SS)₂ High Speed Parallel Robot[J]. Journal of Mechanical Engineering, 2022, 58(1): 29-40.

参考文献

[1] 刘辛军,汪劲松,高峰,等. 并联机器人机构新构型设计的探讨[J]. 中国机械工程,2001,12(12):1339-1342. LIU Xinjun,WANG Jinsong,GAO Feng,et al. Discussion on new configuration design of parallel robot mechanism[J]. China Mechanical Engineering,2001,12(12):1339-1342.
[2] CLAVEL R. Device for the movement and positioning of an element in space:USA,US4976582[P]. 1990-12-11.
[3] PIERROT F,COMPANY O. H4:A new family of 4-dof parallel robots[C]//Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics,September 19-23,1999,Atlanta. New York:IEEE,1999:508-513.
[4] KRUT S,COMPANY O,BENOIT M,et al. I4:A new parallel mechanism for SCARA motions[C]//Proceedings of the IEEE International Conference on Robotics and Automation,September 14-19,2003,Taiwan,China:IEEE,2003:1875-1880.
[5] KRUT S,COMPANY O,NABAT V,et al. Heli4:A parallel robot for SCARA motions with a very compact traveling plate and a symmetrical design[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-25, 2006,Beijing,China. IEEE,2006:1656-1661.
[6] NABAT V,COMPANY O,KRUT S,et al. Par4:Very high speed parallel robot for pick-and-place[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,August 2-6,2005,Alberta. New York:IEEE,2005:1202-1207.
[7] 黄田,赵学满,梅江平,等. 一种具有三维平动一维转动的并联机构:中国,ZL201220007884.X[P]. 2012-11-14. HUANG Tian,ZHAO Xueman,MEI Jiangping,et al. A parallel mechanism with three translations and one rotation:China,ZL201220007884.X[P]. 2012-11-14.
[8] 黄田,宋轶民,赵学满,等. 一种具有三维平动一维转动的并联机构:中国,ZL200910228105.1[P]. 2010-05-19. HUANG Tian,SONG Yimin,ZHAO Xueman,et al. A parallel mechanism with three translations and one rotation:China,ZL200910228105.1[P]. 2010-05-19.
[9] 黄田,赵学满,王攀峰,等. 一种可实现四自由度运动的并联机构:中国,ZL201110149529.6[P]. 2011-11-02. HUANG Tian,ZHAO Xueman,WANG Panfeng,et al. A 4-DOF parallel mechanism:China ZL201110149529.6[P]. 2011-11-02.
[10] XIE F,LIU X J. Design and development of a high-speed and high-rotation robot with four identical arms and a single platform[J]. ASME Journal of Mechanisms and Robotics,2015,7:041015-1-041015-12.
[11] GOSSELIN C M,ANGELES J. A globe performance index for the kinematic optimization of robotic manipulators[J]. ASME Journal of Mechanical Design,1991,113(3):220-226.
[12] LIU X J,WU C,WANG J S. A new index for the performance evaluation of parallel manipulators:A study on planar parallel manipulators[C]//World Congress on Intelligent Control & Automation. IEEE,2008,353-357.
[13] 汪满新,刘海涛,黄田. 3-SPR并联机构运动学性能评价[J]. 机械工程学报,2017,53(5):108-115. WANG Manxin,LIU Haitao,HUANG Tian. Kinematic performance evaluation of 3-SPR parallel mechanism[J]. Journal of Mechanical Engineering,2017,53(5):108-115.
[14] WANG M X,CHEN Q S,LIU H T,et al. Evaluation of the kinematic performance of a 3-RRS parallel mechanism[J]. Robotica,2020(1):1-12.
[15] CORBEL D,GOUTTEFARDE M,COMPANY O,et al. Actuation redundancy as a way to improve the acceleration capabilities of 3T and 3T1R pick-and-place parallel manipulators[J]. ASME Journal of Mechanism and Robotics,2010,2(4):041002-1-041002-13
[16] ANDREA C,PASQUALE C,GIUSEPPE D,et al. Optimal custom design of both symmetric and unsymmetrical hexapod robots for aeronautics applications[J]. Robotics and Computer-Integrated Manufacturing,2017,44:1-16.
[17] LIU X J,HAN G,XIE F,et al. A novel acceleration capacity index based on motion/force transmissibility for high-speed parallel robots[J]. Mechanism and Machine Theory,2018,126:155-170.
[18] KELAIAIA R,ZAATRI A,COMPANY O,et al. Some investigations into the optimal dimensional synthesis of parallel robots[J]. International Journal of Advanced Manufacturing Tech,2016,83(9-12):1525-1538.
[19] ZHANG L M,MEI J P,ZHAO X M,et al. Dimensional synthesis of the Delta robot using transmission angle constraints[J]. Robotica,2012,30(3):343-349.
[20] LIU S T,HUANG T,MEI J P,et al. Optimal design of a 4-DOF SCARA type parallel robot using dynamic performance indices and angular constraints[J]. ASME Journal of Mechanisms and Robotics,2012,4(3):031005-1-031005-10.
[21] HUANG T,LIU S T,MEI J P,et al. Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints[J]. Mechanism and Machine Theory,2013,70(6):246-253.
[22] 李玉航,梅江平,刘松涛,等. 一种新型4自由度高速并联机械手动力尺度综合[J]. 机械工程学报,2014,50(19):32-40. LI Yuhang,MEI Jiangping,LIU Songtao,et al. Manual force scale synthesis of a new 4-DOF high-speed parallel manipulator[J]. Journal of Mechanical Engineering,2014,50(19):32-40.
[23] 汪满新,黄田,冯虎田,等. 一种三平一转四自由度并联机构:中国,ZL201510786414.6[P]. 2015-11-16. WANG Manxin,HUANG Tian,FENG Hutian,et al. A three level one rotation four degree of freedom parallel mechanism:China,ZL201510786414.6[P]. 2015-11-16.
[24] JAN B,BURKHARD C,YUKIO T. On the motion/force transmissibility and constrainability of Delta parallel robots[C]//Computational Kinematics-Proceedings of the 7th International Workshop on Computational Kinematics,2018:340-348.
[25] BRINKER J,CORVES B,YUKIO T. Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices[J]. Mechanism and Machine Theory,2018,125:111-125.
[26] 解则晓,商大伟,任凭. 基于Lamé曲线的Delta并联机器人拾放操作轨迹的优化与试验验证[J]. 机械工程学报,2015,51(1):52-59. XIE Zexiao,SHANG Dawei,REN Ren. Optimization and experimental verification of picking and placing operation trajectory of Delta parallel robot based on Lamé curve[J]. Journal of Mechanical Engineering,2015,51(1):52-59.

4-RṞ(SS)₂高速并联机器人动力尺度综合

Dynamic Dimension Synthesis of 4-RṞ(SS)₂ High Speed Parallel Robot

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	王佳诺, 王奇, 韩健, 肖新标, 金学松. 考虑弹性轮对的车辆-轨道耦合动力学建模及减振特性研究[J]. 机械工程学报, 2023, 59(8): 235-244.
[2]	李照童, 杨玉维, 李彬, 赵磊, 刘凉, 马跃, 刘祺. 一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究[J]. 机械工程学报, 2023, 59(5): 142-155.
[3]	李海虹, 董晋安, 郭山国, 刘志奇. 动/静平台非一致型并联机构构型分析及设计方法[J]. 机械工程学报, 2023, 59(17): 116-125.
[4]	韩健, 肖新标, 温泽峰, 金学松. 地铁列车-嵌入式轨道系统动力学性能研究III:嵌入式轨道与普通轨道动态响应对比分析[J]. 机械工程学报, 2022, 58(6): 169-176.
[5]	侯茂锐, 陈秉智, 成棣, 胡晓依, 孙丽霞. 两种典型动车组车轮磨耗演变规律及其动力学影响研究[J]. 机械工程学报, 2022, 58(4): 191-201.
[6]	孟齐志, 谢福贵, 张赛, 刘辛军. 高速高加速并联机器人构型与尺度参数设计[J]. 机械工程学报, 2022, 58(13): 36-49.
[7]	陈志贤, 李忠继, 杨吉忠, 吴兴文, 周永礼. 常导高速电磁悬浮车辆二系悬挂结构对比优化[J]. 机械工程学报, 2022, 58(10): 160-168,179.
[8]	罗天祺, 陈再刚, 蒋建政, 王家鑫, 王开云. 货物非均匀装载对高速货运动车组动力学性能的影响[J]. 机械工程学报, 2021, 57(2): 139-146.
[9]	韩健, 肖新标, 杨刚, 温泽峰, 金学松. 地铁列车-嵌入式轨道系统动力学性能II：轨道参数对动力学性能影响[J]. 机械工程学报, 2020, 56(24): 173-180.
[10]	丁军君, 杨九河, 胡静涛, 李芾. 高速列车车轮多边形磨耗演变行为[J]. 机械工程学报, 2020, 56(22): 184-189.
[11]	柴馨雪, 杨泳, 徐灵敏, 李秦川. 2-UPR-RPU并联机器人的动力学建模与性能分析[J]. 机械工程学报, 2020, 56(13): 110-119.
[12]	朱黄石, 邹小春, 马贺, 张军. 车轮型面演变对重载固定辙叉磨耗的影响[J]. 机械工程学报, 2020, 56(10): 208-215.
[13]	杨建伟, 刘传, 王金海, 孙冉, 祝赫锴. 牵引与桥梁上拱激励下城轨列车动力学性能研究[J]. 机械工程学报, 2019, 55(4): 118-125.
[14]	杨玉维, 李彬, 周海波, 赵新华, 宋阳, 刘凉, 赵磊. 计及非完美运动副的移动并联机械手动力学分析[J]. 机械工程学报, 2019, 55(15): 208-216.
[15]	周橙, 池茂儒, 梁树林, 王湘涛, 周飞, 吴兴文. 城市轻轨车辆带摇枕转向架的结构方案设计和动力学性能[J]. 机械工程学报, 2019, 55(14): 88-95.