集中式输入并联机器人机构设计与仿真  

Design and simulation of centralized input parallel robotic mechanism

作　　者：赵延治[1,2] 韩瑞[1,2] 张洁 齐立哲[4] 王豪 李帅[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统重点实验室,河北秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),河北秦皇岛066004 [3]燕山大学里仁学院,河北秦皇岛066004 [4]天津智通机器人系统有限公司,天津301700

出　　处：《燕山大学学报》2017年第5期387-394,共8页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(51105322);河北省自然科学基金资助项目(E2014203176);河北省高等学校自然科学研究基金资助项目(QN2015040);中国博士后科学基金资助项目(2016M590212)

摘　　要：针对自动化生产线中具有固定运动轨迹的周期性作业任务需求,提出了一种集中式输入并联机器人机构的设计方法。基于机构运动学反解和集中式传动机构的位移解,建立其输入输出映射关系,结合期望轨迹路径点,拟合得到集中输入曲线。分别设计了集中式输入三分支和六分支并联机器人机构,采用基于最小二乘法的傅里叶级数逼近式曲线拟合方法,求解得到了相应集中输入曲线方程。通过ADAMS和MATLAB联合仿真,验证了该方法的可行性。A method for designing the centralized input parallel robotic mechanism is proposed in order to meet the requirements of periodic task w ith fixed trajectory in the automatic production line. The input/output mapped relationship is established based on the kinematics inverse solution and the analytic displacement solution of the centralized transmission mechanism. the design of the centralized input curves is completed based on the curve fitting theory by mapping the discrete data of centralized input combined w ith the path points of the anticipant trajectory. Tw o new configuration of the centralized input parallel robotic mechanism w ith three and six limbs are designed,the equation of the centralized input curve is obtained by adopting the Fourier series approximation type curve fitting method that based on the least square method. Through the simulation analysis based on ADAM S w ith M ATLAB,the feasibility of the method is verified.

关 键 词：并联机器人 集中式输入 构型设计 曲线拟合 

分 类 号：TH11[机械工程—机械设计及理论]