同类异构打磨机器人奇异性评价与综合方法研究  

Singularity evaluation and synthesis of isomeric grinding robot

作　　者：赵新华[1,2] 冯建峰 刘凉[1,2] 史晨阳 宋会 ZHAO Xinhua;FENG Janfeng;LIU Liang;SHI Chenyang;SONG Hui(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《机械设计》2023年第5期58-69,共12页Journal of Machine Design

基　　金：国家重点研发计划项目(2017YFB1303502);天津市重点研发计划科技支撑重点项目(20YFZCGX01050);天津市教委科研计划项目(2017KJ259);天津理工大学教学基金项目(ZD20-03)。

摘　　要：设计了4种同类异构的两平动一转动打磨机器人,从构件尺寸、结构布局、冗余驱动和运动解耦4个维度研究其内部奇异性的评价与综合方法。采用螺旋理论验证机构自由度的正确性;基于雅可比矩阵和变分原理分析了各机构内部奇异点的分布特征,第1种机构具有多条不规则奇异曲线,只能通过构件尺寸优化和添加冗余驱动来规避;第2、第3种机构通过改变布局方式减少了内部奇异点且分布规整;第4种机构实现了全解耦运动,不存在内部奇异点。对比研究发现,优化构件尺寸和改变结构布局能减少或改善内部奇异点,但很难彻底根除,用合理设计驱动结构实现运动解耦或引入冗余驱动是消除奇异点的有效方法,可用于同类异构机器人最大无奇异工作空间的优化设计。In this article,four isomeric grinding robots are designed with the two-translational-and-one-rotational degree of freedom.The evaluation and synthesis approaches on the singular characteristics within workspace are explored from four aspects of component dimension,structural layout,redundant drive and motion decoupling.The degree of freedom of the four models is verified with the help of the screw theory.The singularities within workspace of each mechanism are analyzed by means of the Jacobian matrices and the variational principle.It is shown that the first mechanism has multiple irregular singular curves,which can merely be avoided by optimizing the size of components and adding redundant drives;the second and third mechanisms enjoy a higher standard of internal singularity and regular distribution by changing the structural layout;the fourth mechanism realizes fully-decoupled motion without internal singularity.The comparative study has found that internal singularities can be reduced or improved by means of optimizing the size of components and changing the structural layout,but it is difficult to eradicate them.A rational drive structure is effective to achieve motion decoupling;the introduction of redundant drives is feasible to eliminate singularities.This study can be used for optimal design of the maximum singularity-free workspace of isomeric robots.

关 键 词：打磨机器人 奇异位形 结构布局 机构综合 

分 类 号：TH112[机械工程—机械设计及理论]