一种可实现位姿分离的局部解耦混联机械操作手  

A Partially Decoupled Hybrid Manipulator with Separated Positions and Poses

作　　者：屈淑维[1] 程芳[1] 郭志宏[1] 屈腾博 Qu Shuwei;Cheng Fang;Guo Zhihong;Qu Tengbo(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Shaanxi Railway Institute,Weinan 714099,China)

机构地区：[1]中北大学机械工程学院,山西太原030051 [2]陕西铁路工程职业技术学院,陕西渭南714099

出　　处：《机械传动》2022年第6期52-56,共5页Journal of Mechanical Transmission

基　　金：山西省基础研究计划资助项目(20210302124220);山西省留学人员回国资助项目(2021-114);教育部产学合作协同育人项目(202102319005)。

摘　　要：混联操作手兼具并联特征操作手的高承载能力及串联特征操作手的大工作空间,具有广阔的工程应用前景。以具有解耦特征的RPS并联结构为模块,构建了串并混联结构的局部解耦混联操作手;通过将驱动链分布于不同平台,得到封闭的位置正解;建立虚拟样机,实现了独立的位置运动及姿态运动。理论结果与虚拟样机的运动模拟效果一致,驱动器的位移数据点变化过程比较平稳,表明机械手可实现复杂的操作运动。该方法有效地降低了串并混联操作手的运动惯性,为操作手的应用提供了重要的理论依据。Hybrid manipulator has high bearing capacity of parallel manipulator and large operating space of series manipulator,so it has broad engineering application prospect. Taking the RPS parallel mechanism with decoupled characteristic as a module,a partially decoupled hybrid manipulator of series parallel hybrid structure is constructed. By distributing the drive chain on different platforms,the closed positive position solution is obtained. The independent position motion and pose motion are realized by establishing the virtual prototype.The theoretical results are consistent with the motion simulation results,and the displacement data points of the actuator change smoothly,it shows that the manipulator can relize complex operation motion. The motion inertia of the series parallel hybrid manipulator is reduced by this method,which provides an important theoretical basis for the application of the manipulator.

关 键 词：混联操作手 解耦特征 位姿分离 复杂操作 运动惯性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]