• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (7): 45-53.doi: 10.3901/JME.2018.07.045

• 机构学及机器人 • 上一篇    下一篇

2-PUR-PSR并联机构的运动学分析及尺度综合

张伟中1,2, 徐灵敏2, 童俊华2, 李秦川2   

  1. 1. 浙江机电职业技术学院电气电子技术系 杭州 310053;
    2. 浙江理工大学机械电子工程系 杭州 310018
  • 收稿日期:2017-04-05 修回日期:2017-10-27 出版日期:2018-04-05 发布日期:2018-04-05
  • 通讯作者: 李秦川(通信作者),男,1975年出生,博士,教授。主要研究方向为并联机器人机构学和应用技术。发表论文30余篇。E-mail:lqchuan@zstu.edu.cn
  • 作者简介:张伟中,男,1978年出生,博士研究生,副教授。主要研究方向为并联机器人机构学。E-mail:zwz_ly@163.com;徐灵敏,男,1993年出生,硕士研究生。主要研究方向为并联机构性能分析和尺度综合。E-mail:xulingmin1993@163.com;童俊华,男,1984年出生,博士,讲师。主要研究方向为智能农业装备研究。E-mail:jhtong@zstu.edu.cn
  • 基金资助:
    国家自然科学基金(51525504,51475431)、浙江省自然科学基金(LZ14E050005)、浙江省教育厅科研基金(Y201738287)和浙江理工大学科研启动基金(16022015-Y)资助项目。

Kinematic Analysis and Dimensional Synthesis of 2-PUR-PSR Parallel Manipulator

ZHANG Weizhong1,2, XU Lingmin2, TONG Junhua2, LI Qinchuan2   

  1. 1. Department of Electrical Engineering, Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou 310053;
    2. Department of Mechanical and Electronic Engineering, Zhejiang Sci-Tech University, Hangzhou 310018
  • Received:2017-04-05 Revised:2017-10-27 Online:2018-04-05 Published:2018-04-05

摘要: Exechon机器人中的并联模块2-UPR-SPR机构由内副P驱动(U:虎克铰,P:移动副,R:转动副,S:球铰),运动部分质量大且对刚度有一定影响。提出外副驱动的2-PUR-PSR并联机构,具有和2-UPR-SPR相同的自由度数目和性质,采用螺旋理论分析了2-PUR-PSR并联机构的自由度,确定了其两条转轴,建立了位置逆解模型。基于螺旋理论得到描述机构运动/力传递性能的局部传递指标和全域优质运动/力传递空间比指标。借助空间模型法对2-PUR-PSR并联机构进行尺度综合,获得性能分布图谱,确定最优尺寸区域。2-PUR-PSR并联机构在加工、装配等方向有较好的应用前景。

关键词: 并联机构, 尺度综合, 性能评估, 运动学分析

Abstract: The 2-UPR-SPR parallel module of the Exechon manipulator is actuated by inner prismatic pairs, which leads to heavy moving weight and negative effects on stiffness (where U denotes a universal joint, P a prismatic joint, R a revolute joint, and S a spherical joint). A 2-PUR-PSR parallel manipulator with fixed linear actuators is proposed, which has the same degrees of freedom and numbers of joints as the 2-UPR-SPR parallel module. Kinematic analysis and dimensional synthesis of the proposed manipulator are discussed. First, the mobility and inverse kinematic module of the 2-PUR-PSR parallel manipulator are analyzed. Then, based on screw theory, the local transmission index and global transmission workspace are obtained, which can be used to describe the motion/force transmission performance. Finally, the optimal design space is used to conduct dimensional synthesis. The atlases of performance are obtained to determine the optimum region. The 2-PUR-PSR parallel manipulator has great potentials in applications like machining and assembling.

Key words: dimensional synthesis, kinematic analysis, parallel manipulator, performance evaluation

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