5自由度并联机器人位姿与工作空间特性分析  

Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot

作　　者：杨智勇[1] 周红军 方乔 张紫豪 王君[1] 缪陈 Yang Zhiyong;Zhou Hongjun;Fang Qiao;Zhang Zihao;Wang Jun;Miao Chen(Hubei Key Laboratory of Modern Manufacturing Quality Engineering,Hubei University of Technology,Wuhan 430068,China;Maintenance Company,State Grid Hunan Electric Power Co.,Ltd.,Changsha 410029,China)

机构地区：[1]湖北工业大学现代制造质量工程湖北省重点实验室,湖北武汉430068 [2]国网湖南省电力有限公司检修公司,湖南长沙410029

出　　处：《机械传动》2021年第9期75-80,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51907055);湖北省教育厅中青年人才项目(Q20191405)。

摘　　要：针对串联机器人应用于恒力磨削加工行业存在刚度小、累计误差大、高速重载受限等问题,提出了一种由4组相同的UPS驱动支链和1个PPS约束支链构成的5自由度并联机器人(4-UPS/PPS),实现了机器人的两维平面移动和三维空间转动。通过D-H参数法分析了机器人X方向约束自由度,根据机器人运动学逆解方程确定动平台位姿与驱动分支间映射关系;建立了机器人工作空间约束方程及目标函数方程,解析刀具末端空间位姿,绘制空间散点图和三维图;利用Adams仿真软件,对比数值解与仿真解分析曲线可知,机器人驱动分支整体运行平稳且理论分析正确。为并联机器人实际运用于恒力磨削加工领域提供了理论与技术基础。Aiming at the problems of low rigidity,large accumulated error,and limited high-speed and heavy load in the application of serial robots in the constant force grinding processing industry,a five-degreeof-freedom parallel robot composed of 4-UPS/PPS composed of four sets of the same UPS drive branch chain and one PPS restraint branch chain is proposed,the robot movement in two-dimensional plane and rotation in three-dimensional space are realized.The X-direction constraint degrees of freedom of robot is analyzed through the DH parameter method,the mapping relationship between the moving platform pose and the driving branch is determined according to the robot kinematics inverse solution equation.The robot workspace constraint equation and objective function equation are established,the tool end space pose are analyze,and spatial scatter diagrams and three-dimensional diagrams are drawn.By using Adams simulation software to compare the numerical solution and the simulation solution analysis curve,it can be seen that the robot driving branch runs smoothly and the theoretical analysis is correct.It also provides a theoretical and technical basis for the practical application of parallel robots in the field of constant force grinding.

关 键 词：并联机器人 运动学 D-H参数 工作空间分析 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]