含约束支链的冗余驱动并联机构动力学性能优化  

Dynamics Performance Optimization for Redundantly Actuated Parallel Manipulator with Constraint Branch

作　　者：刘晓飞[1] 唐艳华[1] 刘鑫[1] 李祺 赵永生[1] LIU Xiaofei;TANG Yanhua;LIU Xin;LI Qi;ZHAO Yongsheng(Parallel Robot and Mechatronic System Laboratory,Yanshan University,Qinhuangdao 066004,China;Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology,Tianjin Institute of Aerospace Mechanical and Electrical Equipment,Tianjin 300301,China)

机构地区：[1]燕山大学并联机器人与机电系统实验室,秦皇岛066004 [2]天津航天机电设备研究所天津市宇航智能装备技术企业重点实验室,天津300301

出　　处：《农业机械学报》2021年第5期378-385,403,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51675458);天津市宇航智能装备技术企业重点实验室开放项目(TJYHZN2019KT005)。

摘　　要：全驱动并联机构可以通过增加约束支链或关节实现机构驱动冗余。为了研究约束支链与关节对冗余驱动并联机构动力学性能的优化问题,分析对比了冗余驱动并联机构6PUS+UPU与非冗余驱动并联机构6PUS机构的动力学特性,研究了约束支链对冗余驱动并联机构动力学性能的优化机理。基于虚功原理建立了6PUS机构和6PUS+UPU机构的动力学模型,提出具有明确物理意义的冗余驱动并联机构动力学性能指标,分析了约束分支对机构动力学性能的影响,并结合数值算例对两种机构动力学性能进行了对比分析。结果显示,支链约束提高了机构动力学性能,而支链质量会降低机构动力学性能。The full-actuated parallel manipulator can realize the actuation redundancy of manipulator by increasing one or more constraint branch chain or joint. In order to analyze the optimization of the constrained branch chain and joint to the dynamics performance of the redundantly actuated parallel manipulator,a deep analysis and comparison of dynamics characteristics between redundantly actuated parallel manipulator 6PUS + UPU and non-redundantly actuated parallel manipulator 6PUS were conducted,and the optimization mechanism of constrained branch chain on the dynamics performance of redundantly actuated parallel manipulator was discussed. Based on the principle of virtual work,the dynamics models of non-redundant manipulator 6PUS and redundant manipulator 6PUS + UPU were established respectively. Then according to different influence factors on the dynamics, dynamics performance indexes of redundantly actuated parallel manipulator with clear physical meanings were proposed. The influences of constrain branch chain with and without mass on the different dynamics performance indexes of the manipulator were analyzed subsequently. Prototypes of the two manipulators with specified inertial and geometric parameters were given and numerical comparisons of dynamics performance was carried out finally. The results showed that the branch constraint improved the dynamic performance of the mechanism,while the quality of the branch would reduce the performance.

关 键 词：并联机构 驱动冗余 约束支链 动力学性能 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]