基于五杆支链性能优化和配置的并联机器人设计方法研究  

Research on Parallel Robot Design Methods Based on the Performance Optimization and Configuration of Five-Bar Chains

作　　者：徐怀安 林松[1] 江竞宇 XU Huaian;LIN Song;JIANG Jingyu(School of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《机械》2022年第5期55-60,共6页Machinery

摘　　要：随着运动任务要求的多样化和复杂化,传统并联机器人设计方法的不透明性和动平台的不变性,导致设计结果会出现偏差且柔性化程度较低。因此提出一种基于五杆支链性能优化和配置的并联机器人设计方法。首先利用解析和几何法结合,完成五杆机构运动分析和奇异性分析,根据相关性能评价指标完成支链五杆的尺度综合。之后,提出平面几何投影法将要求工作空间投影到支链五杆的最佳工作区,综合考虑工作空间及运动性能的需求,实现了并联机器人的设计和配置,提高了设计透明度。With the diversification and complexity of motion requirements,the opaqueness of traditional parallel robot design methods and the invariance of the moving platform lead to deviations in design results and a low degree of flexibility.This paper therefore proposes a parallel robot design method based on the optimisation and configuration of the performance of a five-bar chain.Firstly,the analysis of the motion and singularity of the planar five-bar mechanism was completed using a combination of analytical and geometric methods.The scale synthesis of the five rods of the branch chain was completed according to the relevant performance evaluation indicators.Then,the planar geometric projection method is proposed to project the parallel robot workspace to the optimal working area of the planar five-bar mechanism.The design and configuration of the parallel robot is completed taking into account the requirements of the workspace and the motion performance,which improves the transparency of the design.

关 键 词：并联机器人 支链五杆机构 尺度综合 工作空间投影 

分 类 号：TH112[机械工程—机械设计及理论]