一种弱耦合5-DOF抛磨机械臂的设计  

Design of a 5-DOF Weak Coupling Polishing Manipulator

作　　者：张典范 戴士杰[2] 李红秀 张仕军 ZHANG Dian-fan;DAI Shi-jie;LI Hong-xiu;ZHANG Shi-jun(College of Vehicles and Energy,Yanshan University,Hebei Qinhuangdao 066004,China;School of Mechanical Engineering,Hebei University of Technology,Hebei Qinhuangdao 066004,China;College of Mechanical and Electrical Engineering,Hebei Normal University of Science and Technology,Hebei Qinhuangdao 066004,China;Qinhuangdao Yansheng Intelligent Technology Co.,Ltd.,Hebei Qinhuangdao 066004,China)

机构地区：[1]燕山大学车辆与能源学院,河北秦皇岛066004 [2]河北工业大学机械工程学院,河北秦皇岛066004 [3]河北科技师范学院机电工程学院,河北秦皇岛066004 [4]秦皇岛燕盛智能科技有限公司,河北秦皇岛066004

出　　处：《机械设计与制造》2023年第2期259-265,共7页Machinery Design & Manufacture

基　　金：中央引导地方科技发展专项(19941603G)。

摘　　要：为了实现对风机叶片的抛磨加工,提出一种弱耦合5-DOF并联机械臂,它采用2-UPS+((2-UPS)+U)PU并联机构,对机械臂的机构进行了分析与设计。首先,采用闭环矢量链建立了机械臂的位置模型,并绘制了工作空间分布图。接着,建立了机械臂的运动学传递模型,基于雅可比矩阵结构对机械臂的解耦性进行了分析,并通过定义运动灵活性评价指标,揭示了机械臂的尺寸参数对其运动灵活性影响规律。然后,建立了机械臂的静力学传递模型,通过定义静力承载能力评价指标,揭示了机械臂的尺寸参数对其静力承载能力影响规律。最后,应用基于性能评价指标的蒙特卡罗法对机械臂的尺寸参数进行了概率分析,以概率分析数据为基础对尺寸参数进行了优选。确定了一组最优尺寸参数值:固定平台上分支2万向副分布尺寸为250mm、分支3万向副分布尺寸为450mm、分支1的支链4万向副分布尺寸为300mm、分支1的支链5万向副分布尺寸为350mm;分支1的支链4末端球面副与分支1轴线距离为70mm、分支1的支链5末端球面副与分支1轴线距离为80mm;运动平台上分支2末端球面副分布尺寸为100mm、分支3末端球面副分布尺寸为100mm。采用上述优选尺寸参数,设计出弱耦合5-DOF并联机械臂方案。For the polishing of fan blade,a new type of weak coupling5-DOF parallel manipulator is proposed,it is based on the2-UPS+((2-UPS)+U)PU parallel mechanism.The analysis and design of the manipulator are done.First,the position model of the manipulator is established by using closed loop vector chain,and the workspace distribution map is drawn.Then,the kinematic transfer model of the manipulator is established,and the decoupling of the manipulator is analyzed based on the Jacobi matrix structure.Also,by moving flexibility indexes,the influence of the manipulator′s size parameters on its flexibility is revealed.By static bearing capacity indexes,the influence of the manipulator’s size parameters on its bearing capacity is revealed.Finally,using Monte Carlo method based on performance evaluation indexes,the probabilistic analysis of the manipulator’s size parameters is done.The size parameters are optimized based on probability analysis data.A set of optimal size parameters:the distribution size of branch 2universal joint is 250mm,the distribution size of branch 3 universal joint is 450mm,the distribution size of branch 4 universal joint is 300mm,the distribution size of branch 5 universal joint is 350mm;the distribution size of branch 4 spherical joint is 70mm,the distribution size of branch 5 spherical joint is 80mm;the distribution size of branch 2 spherical joint is 100mm,the distribution size of branch 3 spherical joint is 100mm.The weak coupling 5-DOF parallel manipulator is designed by the optimal size parameters.

关 键 词：弱耦合 抛磨 并联机械臂 运动学分析 静力学分析 优化设计 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]