步行式加工机器人解耦并联机械腿构型综合  

Configuration Synthesis of Decoupled Parallel Mechanical Leg of Walking Machining Robot

作　　者：陈佳丽 许勇[1] 刘文彩 Chen Jiali;Xu Yong;Liu Wencai(College of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院

出　　处：《机械传动》2019年第9期41-49,共9页Journal of Mechanical Transmission

摘　　要：结合螺旋理论、机器人的实际功能应用以及机械腿的运动变换矩阵,综合出了转动完全解耦、移动部分解耦的PUPR-PUPR-PRPAS机械腿构型。首先,分析了步行式加工机器人的功能应用,分析出机械腿在功能应用中需要的自由度;再根据自由度数确定了机械腿所需的支链数目及自由度在支链上分布;然后分析机械腿运动螺旋及约束螺旋,结合机械腿运动解耦的目的,得出使动螺旋来确定驱动螺旋,同时结合功能应用需求对机械腿支链进行了构型综合。根据支链间搭配原则及机械腿功能应用条件等,在综合出的支链中选取并确定机械腿初步构型。最后,先对机械腿单自由度关节副之间进行复合简化,分析简化后的运动变换矩阵,将第三条支链进行进一步改进,确定最终机械腿构型。A kind of fully rotational decoupled and partly translational decoupled mechanical leg (PUPRPUPR- PRPAS) is synthesized by combining the screw theory,the practical function of the robot and the motion transformation matrix of the mechanical leg.First,the DOF of mechanical leg is obtained by analyzed the practical function of walking machining robot.Then,the number of branches and the distribution of DOF on branches can be obtained according to DOF.Next,the actuation screw is used to obtain the driving screw with the aim of movement decoupling by analyzing the kinematics screw and constraint screw of the mechanical leg.The configuration synthesis of decoupled parallel mechanical leg is carried out with the practical function of the robots. The branches are selected out in those obtained configurations according to the norm of functions and coordination to constitute the primary configuration.Finally,the compound simplification is carried out among single-degree-of-freedom joint pairs of mechanical leg,and the simplified motion transformation matrix is analyzed.The third branch is further improved to determine the final configuration of the mechanical leg.

关 键 词：步行式加工机器人 加工模式 步行模式 解耦性 运动变换矩阵 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]