TriMule与Tricept机器人刚度解析与比对

doi:10.3901/JME.2021.19.003

机械工程学报 ›› 2021, Vol. 57 ›› Issue (19): 30-38.doi: 10.3901/JME.2021.19.003

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TriMule与Tricept机器人刚度解析与比对

董成林, 岳巍, 刘海涛, 黄田, 肖聚亮

天津大学机构理论与装备设计教育部重点实验室天津 300354

收稿日期:2020-10-18 修回日期:2021-02-25 出版日期:2021-10-05 发布日期:2021-12-13
通讯作者: 刘海涛(通信作者)，男，1981年出生，教授，博士研究生导师。主要研究方向为机器人机构学，工业机器人与智能制造。E-mail：liuht@tju.edu.cn
作者简介:董成林,男,1992年出生,博士研究生。主要研究方向为机器人机构学。E-mail:chenglindong_tju@tju.edu.cn;岳巍,男,1994年出生,博士研究生。主要研究方向为机器人机构学。E-mail:yuewei@tju.edu.cn;黄田,男,1953年出生,教授,博士研究生导师。主要研究方向为制造装备与系统,机器人学,机械动力学。E-mail:tianhuang@tju.edu.cn;肖聚亮,男,1977年出生,副教授,博士研究生导师。主要研究方向为人机协作与控制、机器人化智能制造、机电液一体化控制。E-mail:tjxjl@tju.edu.cn
基金资助:
国防基础科研（JCKY2017203B066）和国家自然科学基金（91948301，51721003）资助项目。

Stiffness Analysis and Comparison of TriMule and Tricept Robots

DONG Chenglin, YUE Wei, LIU Haitao, HUANG Tian, XIAO Juliang

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354

Received:2020-10-18 Revised:2021-02-25 Online:2021-10-05 Published:2021-12-13

摘要/Abstract

摘要： 为分析比对TriMule机器人与Tricept机器人中两种1T2R并联机构的刚度性能，基于旋量理论，通过力/变形雅可比将支链层面的界面刚度矩阵映射为机构末端笛卡尔刚度矩阵，构造出二者的刚度半解析模型。在此基础上，结合两种1T2R并联机构为球坐标机构的构型特点，推导出二者在给定参考位形下切向线柔度特性各向同性条件的显式表达，并提出评价两种机构切向、法向柔度特性的局部与全域刚度性能评价指标。利用该模型，揭示出两种机构中主动与从动支链的夹角对局部和全域刚度性能的影响规律。研究结果表明，对于一组相同的尺度、结构和任务空间参数，两种机构的刚度性能相当，且其局部与全域刚度性能均是强线性相关的，进而可用前者准确地表征后者。

关键词: 1T2R并联机构, 刚度分析与评价, TriMule机器人, Tricept机器人

Abstract: This research presents a screw theory based analytical approach for stiffness modelling of 1T2R parallel mechanisms within the TriMule and Tricept robots with the goal to compare their stiffness performance over the entire task workspace, leading to the Cartesian stiffness matrix being explicitly expressed in terms of the interface stiffness matrices of limbs and force/deflection Jacobian matrix. Building upon the explicit expressions of the isotropic conditions of the tangential compliance characteristics at the reference configuration, a set of local and global indices for evaluating stiffness performance is proposed. Given a set of identical geometric and structural parameters of limbs, a comparison study is then carried out to investigate the influence of the inclination angle between the actuated and passive limbs on the local and global stiffness indices. It concludes that two robots have extremely similar stiffness performance over the entire work envelop if the local indices of two mechanisms are nearly identical.

Key words: 1T2R parallel mechanism, stiffness analysis and assessment, TriMule robot, Tricept robot

中图分类号:

TG156

董成林, 岳巍, 刘海涛, 黄田, 肖聚亮. TriMule与Tricept机器人刚度解析与比对[J]. 机械工程学报, 2021, 57(19): 30-38.

DONG Chenglin, YUE Wei, LIU Haitao, HUANG Tian, XIAO Juliang. Stiffness Analysis and Comparison of TriMule and Tricept Robots[J]. Journal of Mechanical Engineering, 2021, 57(19): 30-38.

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TriMule与Tricept机器人刚度解析与比对

Stiffness Analysis and Comparison of TriMule and Tricept Robots

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