Stewart衍生型并联机器人的拓扑构型及结构模型  

Topological Configuration and Structural Model of Stewart Derivative Parallel Robot

作　　者：仇鑫 尤晶晶[1,2] 徐帅 叶鹏达 王林康 符周舟 QIU Xin;YOU Jingjing;XU Shuai;YE Pengda;WANG Linkang;FU Zhouzhou(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Automobile and Traffic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016 [3]南京林业大学汽车与交通工程学院,南京210037

出　　处：《机械科学与技术》2021年第5期678-689,共12页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金资助项目(51405237);国家留学基金项目(201908320035);江苏省高等学校大学生创新创业训练计划项目(201910298087Y)。

摘　　要：针对传统Stewart并联机器人耦合度较高导致运动学求解困难的问题,给出一种衍生拓扑构型,并详细设计了其结构模型。基于方位特征集理论,以单开链为支路单元,对机构的拓扑构型进行了剖析,计算了自由度和耦合度,结果分别为6和1;推导并验证了正向、反向运动学解析方程;为满足运动要求,发明了一种复合铰链以及一种可以转换主、从运动的移动副;加工制造了机器人的实物样机,并校核了重要零部件的强度,同时还得出实物样机可承受的最大静态载荷约为12000 N。上述方案及结论为六自由度并联机器人的结构优化、动力学控制奠定了理论基础。Aiming at the problem that traditional Stewart parallel robot has a high degree of motion coupling which makes it difficult to solve robot′s kinematics,a derivative topology is given,and its structure model is designed in detail in this study.Firstly,based on the theory of azimuth feature set,the topological configuration of the mechanism is analyzed with single open chain as the branch unit,the degrees of freedom and coupling are calculated,and the results are 6 and 1 respectively.Then,the analytic equations of forward and reverse kinematics are deduced and verified.In order to meet the requirements of robot motion,a composite hinge and a movable pair which can convert the main and slave motion are invented.Furthermore,the prototype of the robot was manufactured and the strength of its important parts was checked.The maximum static load that the prototype could bear is about 12000 N.The above scheme and conclusion lay a theoretical foundation for the structural optimization and dynamic control of 6-DOF parallel robot.

关 键 词：并联机器人 拓扑构型 结构模型 耦合度 正向运动学 

分 类 号：TH112[机械工程—机械设计及理论]