• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 25-37.doi: 10.3901/JME.2019.23.025

• 机构学及机器人 • 上一篇    下一篇

扫码分享

两转一移冗余驱动并联机构构型综合新方法研究

李永泉1,2, 张阳1,2, 郭雨1,2, 李旭冉1,2, 张立杰2,3   

  1. 1. 燕山大学河北省并联机构与机电系统实验室 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;
    3. 燕山大学河北省重型机械流体动力传输与控制实验室 秦皇岛 066004
  • 收稿日期:2019-05-22 修回日期:2019-09-09 出版日期:2019-12-05 发布日期:2020-02-18
  • 通讯作者: 张立杰(通信作者),男,1969年出生,教授,博士研究生导师。主要研究方向为并联机构及机构技术、液压系统集成及控制技术。E-mail:ljzhang@ysu.edu.cn
  • 作者简介:李永泉,男,1979年出生,副教授,硕士研究生导师。主要研究方向为并联机构及机构技术。E-mail:lijiang197879@sina.com;张阳,男,1994年出生,硕士研究生。主要研究方向为并联机构型综合。E-mail:1623641500@qq.com;郭雨,男,1994年出生,硕士研究生。主要研究方向为并联机构控制技术。E-mail:874719109@qq.com;李旭冉,男,1997年出生,硕士研究生。主要研究方向为视觉处理。E-mail:1269351030@qq.com
  • 基金资助:
    国家自然科学基金(51405421)和河北省自然科学基金(E2015203101)资助项目。

New Method for Type Synthesis of 2R1T Redundant Driven Parallel Mechanisms

LI Yongquan1,2, ZHANG Yang1,2, GUO Yu1,2, LI Xuran1,2, ZHANG Lijie2,3   

  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(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
    3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004
  • Received:2019-05-22 Revised:2019-09-09 Online:2019-12-05 Published:2020-02-18

摘要: 在铣削、钻铆、焊接等领域需要2R1T三自由度执行机构,特别是在高刚度、大工作空间、良好驱动稳定性等场合需要引进冗余驱动来改善2R1T并联机构的性能,为此基于Grassmann线几何和图谱法提出了一种系统有效且简单实用的2R1T冗余驱动并联机构构型综合新方法。根据机构的运动模式确定动平台的自由度线图,然后根据对偶法则得到动平台约束线图,通过在动平台约束线图增加冗余线得到冗余约束线图及其等效线图,根据支链约束分配原则将其分为7种方案;采用图谱法基于约束方案构造相应支链,并根据支链选取和配置准则综合机构的初步构型,每种方案分别综合了12、67、96、0、12、48、16种新构型,共综合出251种新构型,其中包含了一些文献所提出的2R1T冗余驱动并联机构;通过图谱法对已综合机构进行瞬时性分析,发现方案1和方案2所综合机构具有瞬时性,提出将该类机构中的一对平行力约束共轴布置的改进方法可消除其瞬时性,通过瞬时性分析验证该综合方法的可行性和合理性。该方法同样适用于4、5、6自由度冗余驱动并联机构构型综合。

关键词: 图谱法, 并联机构, 冗余驱动, 型综合

Abstract: In the fields of milling, riveting and welding, 2R1T DOF actuators are required, especially in high stiffness, large workspace, good driving stability and other occasions, redundant actuators are required to improve the performance of 2R1T parallel mechanism. Therefore, based on Grassmann linear geometry and atlas method, a new method for typy synthesis of 2R1T redundant actuated parallel mechanism is proposed. The degree-of-freedom curve of the moving platform is obtained according to the motion mode of the mechanism, and then the constraint curve of the moving platform is obtained according to the dual rule. The redundant constraint curve and its equivalent curve were obtained by adding redundant lines to the moving platform constraint curve. According to the allocation principle of branch chain constraint, it is divided into 7 schemes. The corresponding branch chain are constructed based on the constraint scheme by using the atlas method, and the preliminary type of the mechanism is synthesized according to the selection and allocation rule of the branch chain. Each scheme synthesizes 12, 67, 96, 0, 12, 48 and 16 new types respectively, and a total of 251 new types are synthesized, including some 2R1T redundant parallel mechanisms studied in literature. The instantaneous analysis of the synthesized mechanism is carried out by the atlas method, and it is found that the synthesized mechanism of scheme 1 and scheme 2 is instantaneous. An improved method of coaxial placement with a pair of parallel force constraints in this kind of mechanism is proposed to eliminate its instantaneity. The feasibility and rationality of the synthesis method are verified by instantaneous analysis. The method is also suitable for type synthesis of redundant 4, 5 and 6 DOF parallel mechanisms.

Key words: atlas method, parallel robot, redundant actuators, type synthesis

中图分类号: