一种新型五自由度混联机器人动力学建模与性能评价

doi:10.3901/JME.2023.09.063

机械工程学报 ›› 2023, Vol. 59 ›› Issue (9): 63-75.doi: 10.3901/JME.2023.09.063

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一种新型五自由度混联机器人动力学建模与性能评价

王明昊, 汪满新

南京理工大学机械工程学院南京 210094

收稿日期:2022-05-09 修回日期:2022-11-24 出版日期:2023-05-05 发布日期:2023-07-19
通讯作者: 汪满新(通信作者),男,1987年出生,博士,副教授。主要研究方向为机器人学与机构学。E-mail:mxwang@njust.edu.cn E-mail:mxwang@njust.edu.cn
作者简介:王明昊,男,1998年出生,博士研究生。主要研究方向为机器人动力学和控制技术。E-mail:965795784@qq.com
基金资助:
国家自然科学基金(51605225)资助项目。

Dynamic Modeling and Performance Evaluation of a NewFive-DOF Hybrid Robot

WANG Minghao, WANG Manxin

School of mechanical engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2022-05-09 Revised:2022-11-24 Online:2023-05-05 Published:2023-07-19

摘要/Abstract

摘要： 研究一种新型五自由度混联机器人动力学建模和性能评价方法。该混联机器人的主机构为由一条串接一转动副的1T1R(T:平动,R:转动)平面并联运动链和两条空间无约束主动支链组成的1T2R三自由度并联机构。建立该机器人位置逆解、速度、加速度及其动力学模型,并通过Solidworks motion验证动力学模型的正确性。在此基础上,计及末端转头加减速运动对并联机构驱动关节驱动力的影响,并考虑到此类机构切向和法向运动的差异,基于矩阵奇异值理论分别提出该机器人并联机构切向和法向加减速特性评价指标,揭示关键尺度和结构参数对加减速特性影响规律,为机器人的集成优化设计提供参考依据。最后,通过比对分析验证所提出的新型五自由度混联机器人具有与著名Tricept机器人和Trimule机器人相似的加减速特性。

关键词: 混联机器人, 动力学建模, 性能评价

Abstract: A dynamic modeling and performance evaluation method for a new five-DOF hybrid robot is studied. The main mechanism of the hybrid robot is a 1T2R three-degree-of-freedom parallel mechanism, which is composed of a 1T1R (T:translation, R:rotation) planar parallel kinematic chain connected in series with a revolute joint and two spatially unconstrained actuated limbs. The inverse displacement, velocity, acceleration and dynamic models of the robot are established, and the correctness of the dynamic model is verified through Solidworks motion. Then, considering the influence of the acceleration and deceleration motion of the end-wrist on the actuated force of the actuated joint of the parallel mechanism and the difference between the tangential and normal motion of such mechanisms, tangential and normal evaluation index for the acceleration and deceleration characteristics of the parallel mechanism are proposed based on the matrix singular value theory, then the influence of key parameters on them are revealed, which provides a reference for the integrated optimal design of the robot. Finally, it is verified by comparison that the proposed hybrid robot has similar acceleration and deceleration characteristics to the well-known Tricept robot and Trimule robot.

Key words: hybrid robot, dynamic modeling, performance evaluation

中图分类号:

TP24

王明昊, 汪满新. 一种新型五自由度混联机器人动力学建模与性能评价[J]. 机械工程学报, 2023, 59(9): 63-75.

WANG Minghao, WANG Manxin. Dynamic Modeling and Performance Evaluation of a NewFive-DOF Hybrid Robot[J]. Journal of Mechanical Engineering, 2023, 59(9): 63-75.

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一种新型五自由度混联机器人动力学建模与性能评价

Dynamic Modeling and Performance Evaluation of a NewFive-DOF Hybrid Robot

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