• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (21): 19-24.doi: 10.3901/JME.2018.21.019

• 机构学及机器人 • 上一篇    下一篇

一种所有转轴均连续的五自由度混联机器人机构

许允斗1,2, 胡建华1, 张东胜1, 侯照伟1, 姚建涛1,2, 赵永生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. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004
  • 收稿日期:2017-11-15 修回日期:2018-08-14 出版日期:2018-11-05 发布日期:2018-11-05
  • 通讯作者: 赵永生(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为机器人技术、传感器技术、先进制造技术。E-mail:yszhao@ysu.edu.cn
  • 作者简介:许允斗,男,1985年出生,博士,副教授,硕士研究生导师。主要研究方向为并联机器人机构学理论及其应用、锻造操作机技术、可展天线技术、机器人技术。E-mail:ydxu@ysu.edu.cn
  • 基金资助:
    国家自然科学基金(51405425)和河北省重点基础研究(15961805D)资助项目。

A Kind of Five Degrees of Freedom Hybrid Robot with All Rotating Shafts Continuous

XU Yundou1,2, HU Jianhua1, ZHANG Dongsheng1, HOU Zhaowei1, YAO Jiantao1,2, ZHAO Yongsheng1,2   

  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(Yanshan University), Ministry of Education of China, Qinhuangdao 066004
  • Received:2017-11-15 Revised:2018-08-14 Online:2018-11-05 Published:2018-11-05

摘要: 根据两转一移并联机构两转动自由度转轴的分布,提出构造五自由度混联机器人机构构型的新思路,基于2-RPU&UPR并联机构构造一种新型五轴混联机器人机构。建立2-RPU&UPR并联机构的位置正反解模型,由于该并联部分存在两条连续转轴,可将其等效成一个三自由度串联机构RPR,进而将整个混联机器人机构等效为一个四自由度串联机构RPRR和一个移动平台的组合进行分析,根据这两部分位姿之间的解耦性,建立了混联机器人完整的位置正反解模型,并用加工球面轨迹的算例验证了所建运动学模型的正确性。提出的5自由度混联机器人所有转动自由度均具有连续转轴,能够得到解析的位置模型表达式,能够很容易实现轨迹规划与运动控制,具有良好的应用前景。

关键词: 并联机构, 混联机器人, 连续转轴, 运动学模型, 自由度

Abstract: A new way for constructing a kind of five-degrees-of-freedom hybrid manipulator is proposed based on the distribution of rotational axes of the two rotational degrees of freedom for the parallel mechanisms with two-rotation-and-one-translation. Based on the 2-RPU&UPR parallel mechanism, a novel five-axis hybrid manipulator is constructed. The forward and inverse position models of the 2-RPU&UPR parallel mechanism are established, because this parallel mechanism part has two continuous rotational axes, it can be equivalent to a three-degree-of-freedom serial mechanism of RPR. The whole mechanism of hybrid manipulator is equivalent to a combination of four-degree-of-freedom serial mechanism RPRR and a one-degree-of-freedom mobile platform. According to the pose decoupling between these two parts, the forward and inverse position models of the hybrid manipulator are established. An example of machining a spherical locus is given to verify the correctness of the kinematic models. This five-degree-of-freedom hybrid manipulator with all rotational degrees of freedom being of continuous axes, can get analytical expression of the position models, and can realize the trajectory planning and motion control easily, so it has good application prospects.

Key words: continuous axes, degree of freedom, hybrid manipulator, kinematic model, parallel mechanism

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