索驱动TBot及Delta高速并联机器人的性能对比分析  

Comparisons of a TBot high-speed cable-driven parallel robot with a classical Delta parallel robot

作　　者：彭发忠 段金昊 邵珠峰[1] 张兆坤[1] 王道明[2] PENG Fazhong;DUAN Jinhao;SHAO Zhufeng;ZHANG Zhaokun;WANG Daoming(Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control,State Key Laboratory of Tribology,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]清华大学机械工程系,摩擦学国家重点实验室,精密超精密制造装备及控制北京市重点实验室,北京100084 [2]合肥工业大学机械工程学院,合肥230009

出　　处：《清华大学学报（自然科学版）》2021年第3期183-192,共10页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(U19A20101,51575292)。

摘　　要：相较于串联机器人,并联机器人凭借刚度高、动态特性好和结构紧凑等构型优点,在高速分拣领域逐渐获得广泛应用。索驱动并联机器人采用索驱动代替刚性支链,使机器人结构得到有效简化,实现了大幅轻量化,有助于提升其动态特性,降低成本和功耗。该文设计了采用内部支链张紧的新型索驱动高速并联机器人TBot,该机器人与Delta并联机器人均面向高速分拣工况,可实现三维高速平动和绕动平台所在平面法向的单自由度转动。通过对比分析两者的差异,有助于明确索驱动和刚性并联机构的特性,定位亟待解决的关键技术,推动两者的研究和工业应用。在对Delta和TBot机器人进行运动学和动力学建模的基础上,仿真分析了给定"门"字轨迹下的运动学和动力学特性。仿真结果表明:TBot机器人具有机构简洁、能耗低、可达空间大等优势,具有较大的发展潜力。Parallel robots provide better stiffness, better dynamics and more compact structures than serial robots, so they are widely used in high-speed sorting. The rigid limbs in previous robot designs are replaced with cables to simplify and lighten cable-drive parallel robots(CDPR). This paper describes a high-speed CDPR tensioned by a rigid rod and a spring. The robot can execute the SCARA movement in the same way as the classical Delta parallel robot. Comparisons of these two robots show the key design issues for industrial applications of these robots. Kinematic and dynamic models are used to analyse the robot performance for typical trajectories. The results show that this cable driven robot has a simple structure, low energy consumption, large reachable workspace, and great development potential.

关 键 词：高速机器人 并联机构 索驱动 运动学 动力学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]