面向狭长空间的三自由度并联机器人设计与建模  

Design and Modeling of Novel Three Degree-of-freedom ParallelRobot for Narrow Space

作　　者：徐冬梅 刘湘龙 于思淼 徐超[1] 杨帆[1] 曹雏清 XU Dongmei;LIU Xianglong;YU Simiao;XU Chao;YANG Fan;CAO Chuqing(College of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;School of Mechanical and Electrical Engineering,Xi'an University of Architecture and Technology,Xi'an 710055,China;Wuhu HIT Robot Technology Research Institute Co.,Ltd.,Wuhu 241000,China)

机构地区：[1]西安科技大学机械工程学院,西安710054 [2]西安建筑科技大学机电工程学院,西安710055 [3]芜湖哈特机器人产业技术研究院有限公司,芜湖241000

出　　处：《农业机械学报》2024年第1期426-435,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52005398)。

摘　　要：并联机器人因具有刚度大、结构稳定、承载能力大和运动负荷小等优点,在农业和工业等领域得到了广泛的应用。现有大部分并联机器人因支链呈空间对称分布,难以进入狭长空间工作。因此,针对狭长的工作环境,提出了一种新型三自由度并联结构,该机构整体沿一条直线导轨方向布置,减少了垂直于导轨方向的宽度,使之易于放入狭窄的空间内,同时能拥有较大工作空间,并实现3个自由度上的平动运动。通过G-K公式计算机构自由度;验证了该并联机器人设计的合理性;对平台进行了运动学和动力学分析;并根据遗传算法分析其奇异性;通过解析法对机构工作空间进行了分析。研究成果为三自由度并联机器人进入狭长空间工作提供了新的思路与构型。Parallel robots are widely studied for the advantages of high stiffness,stable structure,large bearing capacity and small motion load,and have been widely used in agricultural and industrial fields.Due to the distribution of branch chains,most of the existing parallel robots cannot work in a long and narrow space while having a large working space.Therefore,for the narrow and long working environment,a three-degree of freedom parallel mechanism was proposed.The whole mechanism was arranged along a linear guide rail direction,reducing the width perpendicular to the guide rail direction,so that it was easy to fit into a narrow space,while having a large working space,and realizing translational motion on three degrees of freedom.The degree of freedom of the mechanism was calculated by G-K formula and the rationality of the design of parallel robot was verified.The kinematics and dynamics of the platform were analyzed.The singularity was analyzed by genetic algorithm.Finally,the kinematics and dynamics simulation were carried out in ADAMS software,by comparing with the mathematical model in Simulink software,the error of the two results was generally less than 0.05%,which showed that the mathematical model was correct.The working space of the mechanism was analyzed by analytical method.The research results can provide an idea and structure for 3-DOF parallel robot working in narrow and long space.It can also provide a theoretical basis for the mathematical modeling of the structure.

关 键 词：并联机器人 三自由度 运动学 动力学 狭长空间 

分 类 号：TH112[机械工程—机械设计及理论]