轨道平台位姿调整的多模式2R2T并联机构设计  

Design of Multimode 2R2T Parallel Mechanism for the Position and Orientation Adjustment of the Track Platform

作　　者：冷海龙 杭鲁滨 陈君荣 康开东 黄晓波 章鹏程 林士森 LENG Hailong;HANG Lubin;CHEN Junrong;KANG Kaidong;HUANG Xiaobo;ZHANG Pengcheng;LIN Shisen(Shanghai University of Engineering Science,School of Mechanical and Automotive Engineering,Shanghai 201600,China;Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai 201620,China;State Nuclear Power Plant Service Company,Shanghai 200233,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201600 [2]上海市大型构件智能制造机器人技术协同创新中心,上海201620 [3]国核电站运行服务技术有限公司,上海200233

出　　处：《机械设计与研究》2024年第2期40-44,50,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51475050);主泵法兰螺栓自动检测装置三维空间轨迹测试(GHYX2021PS168);上海市大型构件智能制造机器人技术协同创新中心开放基金项目(ZXY20211101)。

摘　　要：环形轨道平台作为核主泵中空法兰螺栓在线运维装置的运行基准,其位姿快速精准调整是保证中空螺栓缺陷高效检测的核心技术。从几何形位、力平衡两个视角分析环形轨道平台的位姿调整需求,基于方位特征集理论,巧妙利用同轴共面U-U构型,综合出新型多模式2R2T冗余并联机构,其可通过变模式实现水平度(平面两轴旋转2R)和同心度(平面运动2T1R)的3R2T位姿调整;分析了2R2T机构运动模式切换机理,以刚化支链运动副及改变支链位姿实现运动模式的切换;以SPS冗余支链实现轨道平台支撑,保证机构调姿时力平衡及力操作。阐述了环形轨道平台位姿有序调整步骤;真空吸盘与支链运动副和末端快速夹具形成了期望柔顺支链模块,实现机构支链快速安装、切换和拆卸。The annular track plaform is the operation reference of the in-service operation and maintenance equipment for the hollow flange bolt inspection of the nuclear main pump.The rapid and accurate adjustment of its position and orientation is the core element to ensure the efficient detection of hollow bolt defects.The position and orientation adjustment requirements of the annular track platform are analyzed from the viewpoint of geometric tolerance and force balance.Based on the theory of position and orientation characteristic set,a novel multi-mode 2R2T redundant parallel mechanism based on coaxial and coplanar U-U configuration is synthesized.Especially,it can realize the 3R2T posture adjustment of levelness and concentricity through switching changeable modes,including planar two-axis rotation(2R)and planar motion(2T1R).The mechanism of motion mode switching is analyzed,and the motion mode switchingcan be realized through stiffening the motion pair of the branch chain and changing the position and orientation of the branch chain.The track platform is supported by SPS redundant branch chain to ensure the force balance and force operation during the mechanism position and orientation adjustment.The orderly adjustment steps of the position and orientation of the annular track platform are described.Through the desired compliant branch chain module formed by the vacuum suction cup,the branch chain motion pair and the terminal quick clamp,the mechanism branch chain can be quickly installed,switched and disassembled.

关 键 词：环形轨道平台 同轴共面U-U构型 多运动模式 冗余并联机构 

分 类 号：TH112[机械工程—机械设计及理论]