3-RRR球面并联机器人运动干涉检查及工作空间研究  

Motion Interference Inspection and Workspace Research of 3-RRR Spherical Parallel Robot

作　　者：王丽[1] 王蓉 Wang Li;Wang Rong(School of Mechanical Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China;College of Information Engineering,Engineering University of PAP,Xi′an 710086,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000 [2]武警工程大学信息工程学院,陕西西安710086

出　　处：《机械传动》2021年第7期30-36,共7页Journal of Mechanical Transmission

基　　金：陕西省教育厅服务地方专项项目(20JC-001)。

摘　　要：为了将3-RRR球面并联机器人用于空间定位跟踪的执行机构,以欧拉角描述机器人末端动平台的姿态,建立机器人位置方程,得到了关节转角的表达式。用几何分析的方法给出了机器人具有姿态空间的必要条件以及各关节必须满足的结构约束。将球面机构的连杆表示为球面上的大圆弧,连杆发生的运动干涉表现为两连杆圆弧的相交,采用球极映射的方法将代表连杆的空间圆弧映射为平面曲线,从而使得空间圆弧求交点问题简化为平面曲线求交。同时,考虑并联机器人在动平台的每个姿态下具有多种位置和每个连杆具有两侧边界的实际情形,提出了判别并联机器人发生运动学干涉的准则和流程。在实例中,以机器人各分支同时具有满足关节结构约束条件的运动学解为目标,探索出机器人姿态空间,进一步对姿态空间每一点进行运动干涉判别,得到了连杆运动干涉在姿态空间的分布。The 3-RRR spherical parallel robot is applied as the actuator for spatial positioning and tracking,the Euler angle is described the pose of the robot end moving platform.The robot position equation is established,and the expression of joint angle is obtained.The necessary conditions of the robot have space and the structural constraints that each joint must satisfy are given by means of geometric analysis.The connecting rod of spherical mechanism is represented as a large circular arc on the spherical surface.The motion interference of the connecting rod is shown as the intersection of two connecting rod arcs.The spatial arc representing the connecting rod is mapped to a plane curve by using the method of spherical pole mapping.The problem of finding the intersection point of spatial circular arc is simplified to the intersection of plane curve.At the same time,considering the actual situation that the parallel robot has multiple positions in each posture of the moving platform and each link has two sides of the boundary.The criterion and process of identifying the kinematic interference of the parallel robot is proposed.In the example,the attitude space of the robot is explored by taking the kinematics solution of each branch of the robot satisfying the constraint conditions of joint structure as the target,and the motion interference discrimination of each point in the attitude space is further carried out,and the distribution of the motion interference of the linkage in the attitude space is obtained.

关 键 词：并联机器人 球极映射 运动干涉 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]