多因素条件下平面蜘蛛手动力学的可视化分析  

Visualization analysis on the dynamics of the planar spider manipulator under the multivariate conditions

作　　者：张启航 邵敏 李源 王晶[1] ZHANG Qi-hang;SHAO Min;LI Yuan;WANG Jing(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049;Engineering Workshop of Xi’an Jiaotong University,Xi’an 710049)

机构地区：[1]西安交通大学机械工程学院,陕西西安710049 [2]西安交通大学工程坊,陕西西安710049

出　　处：《机械设计》2021年第7期1-6,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51235009)。

摘　　要：为了能够直观了解平面蜘蛛手(并联2自由度机械手)的驱动力(矩)大小及其影响因素,在分析了平面蜘蛛手动力学微分方程的组成形式后,提出了一种动力学可视化图谱分析方法,即分别对影响驱动力(矩)的重力因素项、速度因素项和惯性因素项进行单独研究,得到平面蜘蛛手末端点在工作空间任意位置下的三因素项大小,并绘制成彩色图谱,方便设计人员直观分析机械手的动力性能。根据图谱得到平面蜘蛛手高速运动区域和低速运动区域,对快速完成物料搬运和路径规划起到指导作用。这一研究对充分发挥平面两自由度机械手的动力性能及后续机械手轻量化设计具有重要意义。In this article,in order to intuitively explore the drive force (moment) of the plane spider manipulator (two degrees of freedom parallel manipulator) and its influencing factors,an analytical method featuring the dynamic visualization map is worked out based on the differential forms of the manipulator’s dynamic equations. By means of this method,firstly,the factors which influence the driving force (moment) are separated,such as gravity,velocity and inertia. Then,the related results when the manipulator’s end point is at any position in the working space are identified. Finally,the color maps are drawn. It is convenient for designers to intuitively analyze the manipulator’s dynamic performance. Both the high-speed and low-speed moving regions of the planar spider manipulator based on the map play a guiding role in the rapid completion of material handling and path planning. This research is of great significance to give full play to the dynamic performance and lightweight design of planar two-DOF manipulators.

关 键 词：机械手 动力学 可视化分析 路径规划 

分 类 号：TH113[机械工程—机械设计及理论]