解耦三转动两平移并联机器人机构型综合  

Type synthesis of decoupled three-rotational and two-translational parallel robotic manipulators

作　　者：曹毅[1,2,3] 陈海 秦友蕾 曹浩峰 周辉 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]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 [3]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《哈尔滨工程大学学报》2016年第10期1408-1415,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(50905075);机器人技术与系统国家重点实验室开放基金项目(SKLRS-2016-KF-06);机械系统与振动国家重点实验室开放课题(MSV201407);上海交通大学系统控制与信息处理教育部重点实验室开放基金(SCIP201506)

摘　　要：为了研究并联机构的运动耦合问题,基于螺旋理论和支链独立驱动原则提出了三转动两平移(3R2T)类解耦并联机构构型综合方法。首先根据期望3R2T解耦并联机构的运动特征(绕X、Y、Z轴方向的转动和沿X、Y轴方向的移动)和解耦并联机构的正逆雅可比矩阵必为对角阵的要求,利用螺旋理论来构造满足期望形式的正逆雅可比矩阵;其次根据正逆雅可比矩阵所要满足的条件,确定支链驱动副作用于动平台上的使动螺旋,再得到该使动螺旋对应支链上的表示驱动副的驱动螺旋和除驱动螺旋之外的其他运动螺旋系,据此可完成支链结构螺旋系的配置;最后根据并联机构构型原理依次取出五条支链连接动平台和定平台得到并联机构。综合的并联机构具有解耦特性,避免了运动耦合问题,具有一定的应用前景。In order to research the problem of coupling motion of parallel mechanisms,a method of type synthesis of decoupled three-rotational and two-translational （3R2T ） parallel mechanisms was proposed based on the screw theory and the principle of one leg driving by an independent motor. Firstly,according to the prescribed motion characteristics of 3R2T decoupled parallel mechanisms,including the rotations around the X, Y,and Z axes,and the translations along the X and Y axes respectively,as well as the requirement that the direct Jacobian matrix of the decoupled parallel mechanism must be a diagonal matrix,a methodology was proposed that makes use of the screw theory to synthesize desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the features of both direct and inverse Jacobian matrices,the actuation screws of branched chain drive pairs actuated on the moving platform were confirmed. Then,the actuated screws representing the drive pairs on the corresponding chain as well as the mobile unactuated screws of every limb were derived based on the reciprocal screw theory. Thereby,the screws with a branched chain structure were allocated. Finally,the moving platform and base platform connected by five branch chains were derived in turn according to the type theory of parallel mechanisms. This enabled the acquisition of the parallel mechanisms. The synthesized parallel mechanisms have decoupled characteristics, which prevent the problem of coupling motion,and this provides an application prospect to a certain extent.

关 键 词：型综合 并联机构 支链驱动 螺旋理论 

分 类 号：TH112[机械工程—机械设计及理论]