环形轨道平台位姿调整3-RPR平面并联机构尖点及无奇异路径规划  

Cusp and Singular-Free Path Planning of 3-RPR Planar Parallel Mechanism for Position Adjustment of Ring Track Platform

作　　者：张寅五 杭鲁滨 康开东 陈君荣 章鹏程 黄晓波 林士森 ZHANG Yinwu;HANG Lubin;KANG Kaidong;CHEN Junrong;ZHANG Pengcheng;HUANG Xiaobo;LIN Shisen(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,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201620 [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5期80-85,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51475050);上海市主泵法兰螺栓自动检测装置三维空间轨迹测试基金项目(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：为保障核电站运行安全,需要在线检测核主泵中空螺栓的疲劳失效、腐蚀、裂纹等缺陷。环形轨道平台是核主泵中空螺栓检测装备的运行基准,其与核主泵同心度调整的3-RPR平面并联机构路径规划是保证检测精准的核心技术。构建了3-RPR约束方程、雅可比行列式和雅可比增广矩阵的子矩阵行列式组成的尖点方程组,消元得到了一个24次变元多项式,确定了关节空间内的所有尖点数量。利用3-RPR平面并联机构关节空间内的尖点,规划了同一无奇异最大域中装配构形间的无奇异路径;结果表明,该方法增加了机构可控工作空间,对并联机构运动学有重要的研究意义。In order to ensure the safety of nuclear power plant operation,the fatigue failure,corrosion,cracks and other defects of the hollow bolts of the nuclear main pump should be detected online.The ring track platform is the operating basis of the hollow bolt detection equipment of the nuclear main pump,and the path planning of the 3-RPR planar parallel mechanism with the concentricity adjustment of the nuclear main pump is the core technology to ensure detection accuracy.Cusp equations composed of 3-RPR constraint equations,Jacobian determinant and submatrix determinant of Jacobian augmented matrix are constructed.A 24-degree variable polynomial is obtained by elimination,and the number of cusps in the joint space is determined.Using the cusps in the joint space of the 3-RPR planar parallel mechanism,the non-singular paths between the assembly configurations in the same non-singular maximum domain are planned.The results show that this method increases the controllable working space and has important research significance for the kinematics of parallel mechanism.

关 键 词：环形轨道平台 3-RPR平面并联机构 雅可比增广矩阵 尖点方程组 无奇异路径 

分 类 号：TH112[机械工程—机械设计及理论]