一种新型3T1R并联机器人机构运动学分析与参数优化  

Kinematics Analysis and Parameter Optimization of a Novel 3T1R Parallel Robot Mechanism

作　　者：徐化娟[1] 李宏伟[1] 张春燕[2] Xu Huajuan;Li Hongwei;Zhang Chunyan(Department of Automotive and Mechanical Engineering,Gansu Vocational and Technical College of Communications,Lanzhou 730070,China;School of Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]甘肃交通职业技术学院汽筑工程系,甘肃兰州730070 [2]上海工程技术大学机械工程学院,上海201620

出　　处：《机械传动》2021年第5期57-65,共9页Journal of Mechanical Transmission

基　　金：2018年甘肃省高校大学生创新创业专项资金工程项目《无人机创客空间》上海市研究生科研创新项目基金(19KY0151)。

摘　　要：基于方位特征集设计理论,提出一种动平台能实现三平移动一转动并联机器人机构。根据方位特征方程分析机构的拓扑结构特性,通过杆长约束条件建立运动学方程模型并完成正逆解分析,根据雅可比矩阵确定了发生奇异位形的运动条件。进一步研究了机构的动平台操作空间形状与转动灵活性,同时,根据单一变量法分析结构参数对操作空间的影响,建立操作空间最大化优化模型,运用搜索速度快、全局搜索能力强的天牛须搜索算法进行了尺度优化。结果表明,该机构具有较大的、几何形状规则的工作空间,转动能力强。优化后的尺寸参数为该操作手的应用设计提供了理论依据。Based on the design theory of position and orientation characteristic set,a kind of parallel robot mechanism is proposed,whose moving platform can realize three translations and one rotation.According to the orientation characteristic equation,the topological structure of the mechanism is analyzed,and the kinematics equation model is established by the constraint condition of the length of the rod,and the forward and inverse solution analysis is completed.The motion conditions of singular configuration are determined according to the Jacobian matrix.The operation space shape and rotation flexibility of the moving platform of the mechanism are further studied.At the same time,according to the single variable method,the influence of structural parameters on the operation space is analyzed.The optimization model of operation space maximization is established,the scale optimization is carried out by using beetle antennae search algorithm with fast search speed and strong global search ability.The results show that the mechanism has large,regular shape workspace and strong rotation ability,and the optimized size parameters provides a theoretical basis for the application design of the manipulator.

关 键 词：方位特征集 并联机构 工作空间 参数优化 天牛须搜索算法 

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]