新型6-U(P/H)U机构的分支螺旋转角  

Rotation Angle of Branch Helix Based on 6-U(P/H)U Mechanism

作　　者：卢文娟 孙金斯 范朝辉 侯雨雷[2] 刘亚 曾达幸 LU Wenjuan;SUN Jinsi;FAN Zhaohui;HOU Yulei;LIU Ya;ZENG Daxing(Institute of Science and Technology Innovation,Dongguan University of Technology,Dongguan 523808;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)

机构地区：[1]东莞理工学院机械工程学院,东莞523808 [2]燕山大学机械工程学院,秦皇岛066004

出　　处：《机械工程学报》2023年第11期213-220,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51905464,51775473);广东省重点建设学科科研能力提升(2021ZDJS084);国家重点研发计划(2018YFB1307903);广东省普通高校机器人与智能装备重点实验室(2017KSYS009);东莞理工学院机器人与智能装备创新中心(KCYCXPT2017006)项目;东莞市社会科技发展(重点)(20185071021602);2021年东莞市科技特派员(20211800500242)资助项目。

摘　　要：Stewart机构具有广泛的应用,针对传统Stewart机构在工程应用中造价偏高的问题,提出一种6-U(P/H)U机构对Stewart机构进行代替。根据螺旋电动缸的运动副为螺旋副或移动副,并基于UPU分支和Stewart机构的布置方式,确定6-U(P/H)U机构的构型。螺旋角的求解是位移误差以进行补偿的基础,提出基于理论计算、模拟仿真以及传感器进行螺旋角求解的方式。首先采用螺旋理论分别求解6-U(P/H)U机构和6-UPU机构的自由度,确定6-U(P/H)U机构不存在分支螺旋转角的位姿。然后对6-U(P/H)U机构的分支螺旋转角进行求解,并推导出包含分支螺旋转角误差的反解,以计算出考虑了位移误差后螺旋电动缸的实际伸长量。使用ADAMS对6-U(P/H)U机构的三维模型进行运动仿真,验证螺旋转角计算方法的正确性。利用机构的正解进行验证,确定分支螺旋转角对该机构的精度影响较小。最后搭建6-U(P/H)U机构的样机实物,验证机构的可行性。相较于传统的Stewart机构,6-U(P/H)U机构中电动缸结构的复杂程度相对较低,同时分支的转动副关节数目更少,使得6-U(P/H)U机构的制造成本更低。因此,在一些应用精度不高的场合,6-U(P/H)U机构是传统Stewart机构较为理想的替代机构。Stewart mechanism has a wide range of applications.In view of the high cost of traditional Stewart mechanism in engineering applications,a 6-U(P/H)U mechanism is proposed to replace the Stewart mechanism.According to whether the motion pair of the helical electric cylinder is a helical pair or a moving pair,and based on the UPU branch and the arrangement of the Stewart mechanism,the configuration of the 6-U(P/H)U mechanism is determined.The solution of the helix angle is the basis for the compensation of the displacement error.A method of solving the helix angle based on theoretical calculation,simulation and sensor is proposed.Firstly,the degrees of freedom of the 6-U(P/H)U mechanism and the 6-UPU mechanism are solved by the helical theory,and the pose of the 6-U(P/H)U mechanism without the branch helix angle is determined.Then,the branch helix angle of the 6-U(P/H)U mechanism is solved,and the inverse solution including the branch helix angle error is derived to calculate the actual elongation of the helical electric cylinder after considering the displacement error.The motion simulation of the 3D model of the 6-U(P/H)U mechanism was performed using ADAMS to verify the correctness of the calculation method of the helix angle.The positive solution of the mechanism is used for verification,and it is determined that the branch helix angle has little effect on the accuracy of the mechanism.Finally,a prototype of the 6-U(P/H)U mechanism was built to verify the feasibility of the mechanism.Compared with the traditional Stewart mechanism,the complexity of the electric cylinder structure in the 6-U(P/H)U mechanism is relatively low,and at the same time,the number of rotating joints of the branches is less,which makes the 6-U(P/H)U mechanism lower manufacturing cost.Therefore,in some occasions where the application accuracy is not high,the 6-U(P/H)U mechanism is an ideal alternative to the traditional Stewart mechanism.

关 键 词：6-U(P/H)U机构 螺旋转角计算 STEWART机构 电动缸驱动 

分 类 号：TH122[机械工程—机械设计及理论]