Stewart型并联机器人的奇异对其运动精度的影响  

Effect of Singularity on Motion Accuracy of Stewart Parallel Robot

作　　者：陈垚 尤晶晶[1,2] 叶鹏达 王澍声 黄宁宁 CHEN Yao;YOU Jingjing;YE Pengda;WANG Shusheng;HUANG Ningning(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京210016 [3]常州大学机械与轨道交通学院,江苏常州213164

出　　处：《机械制造与自动化》2024年第3期195-198,214,共5页Machine Building & Automation

基　　金：国家自然科学基金项目(51405237);国家留学基金项目(201908320035);江苏省高等学校大学生创新创业训练计划项目(202210298016Z)。

摘　　要：以9-3 Stewart型并联机器人为研究对象,分析其在机构接近奇异位形时动平台运动精度的情况。通过计算并联机器人速度Jacobian矩阵的行列式得到奇异点的坐标。通过虚拟样机实验,得到动平台参考点位置反解和正解计算的相对误差。用转动Jacobian矩阵条件数的倒数来度量机构接近奇异的程度,并分析该程度与上述相对误差之间的映射关系。研究结果表明:当指标值大于7.027×10^(-5)时,正、反解的相对误差可忽略不计,这为奇异规避、路径规划等后续工作提供了理论参考。Taking 9-3 Stewart parallel robot as the research object,analyzes the motion accuracy of moving platform when mechanism is close to singular configuration.The determinant of velocity Jacobian matrix of the parallel robot is calculated to abtain the coordinates of singular points.The virtual prototype experiment is conducted to gain the relative error of the inverse solution and positive solution of the reference point of the moving platform.The reciprocal of the condition number of the rotating Jacobian matrix is used to measure the degree of the mechanism approaching singularity,and the mapping relationship between this degree and the above relative error is analyzed.The results show that when the index value is greater than 7.027×10-5,the relative error of the positive and negative solutions can be ignored,which provides a theoretical reference for the follow-up work such as singularity avoidance and path planning.

关 键 词：并联机器人 正解 反解 运动精度 奇异位形 Jacobian矩阵 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]