基于单元划分和连接关系矩阵的模块化并联机器人运动学建模  

Kinematics modeling of modular parallel robots based on element division and connection relationship matrix

作　　者：雷静桃[1] 胡磊[2] 王田苗[2] 俞煌颖[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]北京航空航天大学机械工程及自动化学院,北京100091

出　　处：《高技术通讯》2014年第7期739-744,共6页Chinese High Technology Letters

基　　金：863计划(SS2012AA041604)资助项目

摘　　要：为了使模块化并联机器人的运动学变化能够响应其构型的变化,提出了基于单元划分和连接关系矩阵的模块化并联机器人运动学建模方法,并以3-PRC并联机器人构型为例进行了建模研究:根据模块化并联机器人的结构特点,从机器人机构的角度对运动副处进行模块化单元划分,用连接关系矩阵描述所有单元的连接关系,连接关系矩阵可以确定并联机器人的构型;建立各单元的运动学子模型,即在固定参考坐标系中用齐次坐标变换矩阵描述各单元装配接口的空间位姿;根据相互连接的单元间运动副的类型,分析装配接口间的装配约束条件,并构建运动副的约束连续性方程。综合所有单元的运动学子建模和约束连续性方程,即得模块化并联机器人的运动学模型。该方法可适用于串联、并联或混联等任何构型的机器人。To make the kinematics of a modular parallel robot respond quickly to its configuration changing, a kind ot ki-nematics modeling method for modular parallel robots based on element division and connection relationship matrix was designed, and it was used to perform the kinematics modelling of a 3-PRC parallel robot as below. Firstly, according to the configuration characteristics, the modular parallel robot was divided into several elements at the kinematics-pair from the point of the robotic mechanism, and the connection relationship matrix was proposed to describe the connection relationship among all elements, so the parallel robot configuration was determined by the matrix. Then, the subkinematics model of each element was derived, i. e. , the spatial pose of assembly ports for each element was described with respect to the world coordinate system by a homogeneous coordinate transformation matrix. According to the kinematics-pair type between connected elements, assembly constraint conditions of assembly ports were analyzed, and then the constraint continuity equation of kinematics-pair was established. After analyzing the sub-kinematics models of all elements, the kinematics model of the modular parallel robot was derived according to the constraint continuity equations. The effectiveness of the method was verified by simulation, and it can be applied to any robotic configurations with serial, parallel or hybrid structures.

关 键 词：模块化并联机器人 单元划分 连接关系矩阵 装配接口 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]