• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2010, Vol. 46 ›› Issue (9): 1-11.

• 论文 •    下一篇

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机器人机构结构综合方法的基本思想、特点及其发展趋势

杨廷力;刘安心;罗玉峰;杭鲁滨;沈惠平;石志新   

  1. 中国石化金陵石油化工公司;解放军理工大学工程兵工程学院;南昌大学机电工程学院;上海工程技术大学机械工程学院;江苏工业学院机械与能源工程学院
  • 发布日期:2010-05-05

Basic Principles, Main Characteristics and Development Tendency of Methods for Robot Mechanism Structure Synthesis

YANG Tingli;LIU Anxin; LUO Yufeng; HANG Lubin;SHEN Huiping;SHI Zhixin   

  1. SINOPEC Jinling Petrochemical Corporation Engineering Institute of Engineer Corps, PLA University of Science and Technology Mechanical and Electrical Engineering Institute, Nanchang University Mechanical Engineering Institute, Shanghai University of Engineering Science Mechanical and Energy Engineering Institute, Jiangsu Polytechnic University
  • Published:2010-05-05

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摘要： 对机器人机构结构综合3种方法(基于螺旋理论的方法、基于位移子群/子流形的方法和基于方位特征的方法)的基本思想与特点进行比较研究。研究表明，基于方位特征的方法具有显著的特点：可得到非瞬时机构和非瞬时自由度，机构存在的几何条件具有一般性(以上不同于基于螺旋理论的方法)；结构学基本方程揭示了机构的拓扑结构、运动方位特征和自由度三者之间的显式映射关系，运算规则较少，且几何意义明确，易于操作，只使用简单的数学工具(矢量代数等)，便于设计者理解和应用，适用于所有机构(不含Bennett等一类机构)的结构综合(以上不同于基于位移子群的方法)。研究亦表明，基于单开链单元的结构组成原理，构建机构结构学、运动学和动力学三者密切相关的系统理论与方法是机构拓扑结构学发展的重要方向之一。

关键词: 动力学, 机器人机构, 结构综合, 运动学

Abstract: Basic principles and characteristics of three structural synthesis methods (based on screw theory, displacement subgroup and position orientation characteristics(POC) respectively) for robot mechanism are described and compared. This comparative study shows that the method based on POC has the following notable advantages：The obtained mechanism is non-instantaneous mechanism and the DOF is full-cycle DOF. Existence condition of the obtained mechanism is more general (relative to screw theory based method). The basic structural equations reveal the explicit mapping relations among topological structure, POC and DOF of mechanisms. Much less operation rules are required and all types of mechanisms are covered (relative to displacement subgroup based method). The conclusion is that the POC based method is an effective new one for creative mechanism topological structure design. It is an important research field to establish a systematic theory integrating topological structure, kinematics and dynamics of mechanisms based on a single open-chain unit.

Key words: Dynamics, Kinematics, Robot mechanism, Structural synthesis

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