差动驱动并联机器人设计与运动学分析  

Design and Kinematics Analysis of Differential Drive Parallel Robot

作　　者：任彪 韩哈斯敖其尔[1,2] 黄胡泽 李耀彬 吴清文[1,2] REN Biao;HAN Hasiaoqier;HUANG Huze;LI Yaobin;WU Qingwen(Space Robot Engineering Center,Changchun Institute of Optics,Fine Mechanics and Physics,CAS,Changchun 130033,China;College of Materials Science and Opto\|Electronic Technology,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所空间机器人工程中心,长春130033 [2]中国科学院大学材料科学与光电技术学院,北京100049

出　　处：《组合机床与自动化加工技术》2024年第2期1-7,12,共8页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(52005478);中国科学院青年创新促进会项目(2022215)。

摘　　要：基于Stewart并联机器人构型和偏置柔性虎克铰链,利用双螺旋副差动传动的方案设计了一款低成本高精度6-RR-RP-RR构型的6-DOF并联机器人。首先,基于双螺旋副差动传动原理,分别提出了串联和并联两种差动驱动方案,并对柔性虎克铰链进行了设计,确定了最终的整机结构设计方案;其次,对柔性铰链的柔度进行了理论建模,并仿真验证了其柔度和强度设计的合理性;此外,对该并联机器人开展了逆运动学分析,建立了其运动学模型,并采用牛顿-拉普拉森数值迭代方法进行了求解;最后,分别利用多体动力学和Ansys仿真软件验证了整机运动学模型和求解的准确性。Based on Stewart parallel robot configuration and offset flexible Hooke hinge,a 6-DOF parallel robot with 6-RR-RP-RR configuration was designed by double screw pair differential transmission scheme.Firstly,based on the double screw differential transmission principle,two kinds of series and parallel differential drive schemes were proposed respectively,and the flexible Hook hinge was designed,and the final structural design scheme of the whole machine was determined.Secondly,the flexibility of the flexure hinge is modeled theoretically,and the rationality of the flexibility and strength design is verified by simulation.In addition,the inverse kinematics of the parallel robot is analyzed,its kinematics model is established,and the solution is solved by the Newton-Raphson numerical iteration method.Finally,Adams and Ansys software were used to verify the accuracy of kinematics model and solution.

关 键 词：差动传动 STEWART平台 柔性铰链 运动学 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]