4-R(2-SS)型高速并联机器人运动性能分析及轨迹位置规划  

Analysis on Motion Performance and Position of Trajectory Planing of a 4-DOF High-speed Parallel Robot

作　　者：丛明[1] 姜玉成[1] 刘冬[1] 

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《组合机床与自动化加工技术》2014年第2期19-23,27,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家高技术研究发展计划(863计划)项目(2013AA040303)

摘　　要：为满足电子、食品及医药等工业领域生产对少自由度高速并联机器人的需求,设计了一种4-R(2-SS)型高速并联机器人。以该机器人机构为研究对象,基于螺旋理论对4-R(2-SS)型并联机构的自由度研究,建立了4-R(2-SS)型并联机构的数学模型,求出机器人的灵活工作空间。提出了以机器人灵活工作空间边界为约束条件,以末端执行器运动误差为目标函数函数,对末端执行器轨迹位置参数优化,并进行运动仿真分析。结果表明对机器人轨迹位置的参数优化有效降低了各主动臂转动幅度,增加了运动平稳性,同时验证了机器人具有高速、高加速度的运动性能。In order to satisfy the needing of the lower DOF parallel robots in industry, A 4 - R（2 - SS） high - speed parallel robot has been designed. Taking the robot as the research object, the DOF of 4 - R （2 - SS ） parallel institutions is calculated using screw theory , Kinematic model of the 4 -R（2 -SS ） parallel in- stitutions is built, dextrous workspace of the 4 - R （2 - SS ） parallel institutions is searched. Finally, the boundary of robot＇ s dextrous workspace as constraint conditions, the error of end effector was chosen as the optimal objective functions, the position of trajectory＇ s parameters were optimized, and motion simulation is taked. The results of motion simulation show that the trajectory planning reduces the range of the arms＇ ro- tational angle effectively, increases the stability of the motion, and prove the robot with high speed, high ac- celeration motion performance.

关 键 词：高速并联机器人 螺旋理论 灵活工作空间 轨迹位置 

分 类 号：TH242[机械工程—机械制造及自动化] TG64[金属学及工艺—金属切削加工及机床]