可重构3-RRR并联机器人的“点对点”路径规划  

“Point⁃to⁃Point”Path Planning for Reconfigurable 3⁃RRR Parallel Robots

作　　者：黄宁宁 尤晶晶[1] 王澍声 叶鹏达 沈惠平[2] 李成刚[3] HUANG Ningning;YOU Jingjing;WANG Shusheng;YE Pengda;SHEN Huiping;LI Chenggang(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;College of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213016,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]常州大学机械与轨道交通学院,常州213016 [3]南京航空航天大学机电学院,南京210016

出　　处：《南京航空航天大学学报》2024年第3期415-423,共9页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(51405237);国家留学基金(201908320035)。

摘　　要：通过拓扑重构,可以提高并联机器人的静刚度、故障修复等性能,但机器人重构之后能否到达任意指定的位姿且不经过奇异位形,尚无定论。为此,以可重构3-转动副转动副转动副(3-revolute-joint,revolute-joint,revolute-joint,3-RRR)并联机器人为研究对象,提出了一种能够实现“点对点”路径跟踪的规划算法。首先,建立了机构重构之前的反向运动学模型,据此确定了6组重构序列。接着,构建了一种“四步”规划算法,适用于任意自由度的可重构并联机器人的“点对点”路径跟踪,具有直观的几何解释,并且能够消除全部的奇异位形;通过算例验证了规划算法的有效性。然后,基于螺旋理论,计算出各组参量下的输入、输出和局部传递指标值,据此,确定了重构序列下的最优输入参量。最后,将“点对点”路径规划算法推广至连续路径规划的情形。Topological reconfiguration can improve the static stiffness and fault tolerance of parallel robots,but the problem of whether the robot can reach any specified pose without singular configuration has not been solved.Therefore,this paper takes the reconfigurable 3-RRR planar parallel robot as the research object,and proposes a path planning method that can realize“point-to-point”tracking.Firstly,the inverse kinematics model before reconfiguration is established,and six paths based on topological reconfiguration are found.Then,a“four-step”planning algorithm is constructed,which is suitable for“point-to-point”path tracking of reconfigurable parallel robots with any degree of freedom.It has intuitive geometric interpretation and can eliminate all singularities.The effectiveness of the planning algorithm is verified by an example.Further,based on the screw theory,the input and output transfer indexes under each input mode are calculated,and the optimal solution of the input mode is obtained by using the local transfer index.Finally,the“point-topoint”path planning algorithm is extended to continuous path planning.

关 键 词：并联机器人 拓扑重构 路径规划 螺旋理论 奇异性 

分 类 号：TH112[机械工程—机械设计及理论]