完全解耦2T3R并联机器人机构型综合方法  

Type synthesis method of fully decoupled 2T3R parallel robotic manipulators

作　　者：曹毅[1,2,3] 秦友蕾 陈海 曹浩峰 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]上海交通大学机械系统与振动国家重点实验室,海200240 [3]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《华中科技大学学报（自然科学版）》2016年第5期114-120,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

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(MSV-201407);机器人技术与系统国家重点实验室开放课题资助项目(SKLRS-2016-KF-06)

摘　　要：针对并联机器人运动的非线性、强耦合问题,基于GF集理论提出一种完全解耦两移动三转动(2T3R)并联机构型综合方法.首先阐述GF集的基本概念、运算法则,给出并联机构数综合方程;然后根据GF集的求和运算和转动轴线迁移定理,给出机构输入运动副选择原则以及解耦支链设计准则;按照完全解耦并联机构设计步骤,列举出了2T3R并联机构各解耦分支运动链,综合出了含有单、双驱动支链的2T3R五自由度完全解耦并联机构,得到了大量新构型;最后通过综合出的2T3R并联机构,运用旋量理论求得其机构末端运动特征,求解机构位置正解解析表达式,进而推导得到机构雅可比矩阵,验证了该机构的完全解耦性,进一步证明了该构型方法的有效性.To avoid the existence of nonlinear and strong coupling in the parallel mechanisms,a structural design of fully-decoupled two-translational and three-rotational（2T3R）parallel mechanisms was proposed based on GFset.Firstly,the basic concept of GFset,algorithms and the type synthesis principle,number synthesis of parallel mechanisms were introduced.Secondly,according to union arithmetic of GFset and rotational motion planet theorem,the selection criterion of the input pair and type synthesis principle of decoupled branches were given.Following the type synthesis step,the structural synthesis of each kinematic chain for fully decoupled 2T3 Rparallel robotic manipulators was performed,and specific process for type synthesis of 2T3 Rfive degrees of freedom decoupled parallel mechanism including sole and double motivation kinematic chain was finished.Simultaneously,a lot of new mechanisms were attained.Finally,constraint screw was applied to analyze kinematic characteristic of a parallel mechanism synthesized above.The expression of the Jacobian matrix was deduced which validated the decoupling feature of the mechanism.In addition,the effectiveness of the proposed method of structural synthesis for parallel mechanisms was demonstrated.

关 键 词：机器人 并联机构 型综合 GF集 完全解耦 运动分析 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]