六自由度轮式并联机器人及其构型方法

doi:10.3901/JME.2023.03.046

机械工程学报 ›› 2023, Vol. 59 ›› Issue (3): 46-53.doi: 10.3901/JME.2023.03.046

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六自由度轮式并联机器人及其构型方法

褚宏鹏, 祁柏, 王慧奇, 邱雪松, 周玉林

燕山大学机械工程学院秦皇岛 066004

收稿日期:2022-03-21 修回日期:2022-08-21 出版日期:2023-02-05 发布日期:2023-04-23
通讯作者: 周玉林(通信作者),男,1961年出生,博士,教授,博士研究生导师。主要研究方向为机构学、重型装备构型理论与机电集成技术。E-mail:zyl@ysu.edu.cn
作者简介:褚宏鹏,男,1990年出生,博士研究生。主要研究方向为机构学与机器人控制理论。E-mail:balivor@163.com
基金资助:
国家自然科学基金资助项目(52075466)。

6-DOF Wheeled Parallel Robot and Its Design Method

CHU Hongpeng, QI Bai, WANG Huiqi, QIU Xuesong, ZHOU Yulin

School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004

Received:2022-03-21 Revised:2022-08-21 Online:2023-02-05 Published:2023-04-23

摘要/Abstract

摘要： 车轮是人类历史上最伟大的发明之一,在交通运输领域得到了广泛的研究与应用。将车轮这种特殊的运动副引入到传统并联机器人构型设计中,可以有效拓展并联机器人的工作空间。基于全方位轮的关联矩阵描述,将含车轮的串联支链构型综合问题转化为含车轮的关联矩阵求解问题,综合出两类含车轮的无约束串联支链,并分析了两类串联支链的受力稳定性。提出了两种六自由度轮式并联机器人新构型,分析了基于全向轮的轮式并联机器人的自由度属性,并成功研制出了一台实验样机。六自由度轮式并联机器人融合了移动机器人和传统并联机器人的优势,不仅具有移动效率高、移动范围广的优点,且具备在局部小范围内进行高精度六自由度操作的能力,可广泛应用于大型精密设备制造过程中的加工、运输、调姿和装配等工业操作。

关键词: 并联机器人, 车轮, 关联矩阵, 螺旋理论, 构型综合

Abstract: Wheels are one of the greatest inventions in human history and have been widely studied and applied in the field of transportation. The wheel, a special kinematic pair, is introduced into the configuration design of the traditional parallel robots, which can effectively expand the workspace of the parallel robots. Based on the incidence matrix of omni-directional wheels, the type synthesis problem of serial chains with wheels is transformed into the problem of solving incidence matrix with wheels. Two kinds of unconstrained serial chains with wheels are synthesized, and the stability of the two kinds of serial chains is analyzed. Finally, two new types of 6-DOF wheeled parallel robots are proposed, and the degree of freedom attributes of the wheeled parallel robot based on omni-wheel are analyzed, and an experimental prototype is successfully developed. The 6-DOF wheeled parallel robot combines the advantages of mobile robots and traditional parallel robots. It not only has the advantages of high moving efficiency and wide moving range, but also has the ability to carry out high-precision 6-DOF operation in a small local range. It can be widely used in industrial operations such as processing, transportation, attitude adjustment and assembly in the manufacturing process of large-scale precision equipment.

Key words: parallel robot, wheel, incidence matrix, screw theory, type synthesis

中图分类号:

TH112

褚宏鹏, 祁柏, 王慧奇, 邱雪松, 周玉林. 六自由度轮式并联机器人及其构型方法[J]. 机械工程学报, 2023, 59(3): 46-53.

CHU Hongpeng, QI Bai, WANG Huiqi, QIU Xuesong, ZHOU Yulin. 6-DOF Wheeled Parallel Robot and Its Design Method[J]. Journal of Mechanical Engineering, 2023, 59(3): 46-53.

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六自由度轮式并联机器人及其构型方法

6-DOF Wheeled Parallel Robot and Its Design Method

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