基于G_F集理论的五自由度混联机器人构型综合  

Structural Synthesis of 5-DOF Hybrid Mechanisms Based on G_F Set

作　　者：曹毅 秦友蕾 陈海 葛姝翌 周辉 

机构地区：[1]江南大学机械工程学院,无锡214122 [2]江苏省食品先进制造装备技术重点实验室,无锡214122

出　　处：《农业机械学报》2015年第11期392-398,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50905075);机械系统与振动国家重点实验室开放课题资助项目(MSV201407);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)

摘　　要：基于GF集理论提出了一种简单而有效的混联机器人构型综合方法。首先阐述了GF集的基本概念、运算法则及转动特征存在条件。其次通过分析混联机构结构组成特点,提出了基于GF集元素组合和转动轴线迁移定理安排混联机构拓扑结构的方法,建立了混联机构数综合方程并给出了混联机构构型综合的具体步骤。基于该构型综合理论,综合出了具有确定运动特征的3T2R混联机构。针对综合出的混联机构,提出了一种混联机构末端运动特征的分析方法,运用该方法分析了一种综合得到的3PRPaR&RR混联机构,证明了该构型理论的正确性。设计出的3PRPaR&RR混联机构具有结构紧凑、定位精确、高速等优点,同时给出了实例应用。Hybrid mechanisms have attracted great attention as a robotic mechanism which merges the advantages of serial and parallel mechanisms. In order to obtain structures of hybrid robot, a very simple yet effective method for structural synthesis of hybrid mechanisms was proposed based on GF set. The basic concept and mathematical operation of Gr set, and requirements for rotation based on GF set were firstly introduced. Secondly, this paper presents a method for synthesizing hybrid mechanisms by analyzing characteristics of structure composition of hybrid mechanisms. It is shown that structural synthesis of hybrid mechanisms can be developed by the combination of elements of GF set and rotation axis transfer theorem, number synthesis formulas were set up, and a detailed algorithm of type synthesis for hybrid mechanisms was proposed as well. According to the proposed approach, structural synthesis of 3T2R 5-DOF hybrid mechanisms was given in detailed. A lot of novel topological structures of hybrid mechanisms were designed. Meanwhile, a method was proposed to analyze kinematic characteristic of hybrid mechanisms synthesized above. Finally, a 3PRPoR＆RR hybrid mechanism was synthesized to demonstrate the applicability of the novel method of structural synthesis for hybrid mechanisms. The 3PRPoR＆RR manipulator performs very well with regard to high stiffness and better accuracy and motion transmission capabilities. At the same time a specific application was given. The research provides a general method for hybrid robot mechanism design and the obtained mechanisms do a beneficial supplement to the hybrid mechanism.

关 键 词：混联机构 构型综合 GF集 

分 类 号：TH112[机械工程—机械设计及理论]