基于几何法的三自由度平面并联机器人的Hunt奇异研究  

Geometric Analysis of Hunt Singularity in Three‑Degree‑of‑Freedom Planar Parallel Robots

作　　者：张毅 尤晶晶[1,2] 王澍声 黄宁宁 闻王虎 ZHANG Yi;YOU Jingjing;WANG Shusheng;HUANG Ningning;WEN Wanghu(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;State Key Laboratory of Mechanical Transmission for Advanced Equipment,Chongqing University,Chongqing 400044,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]重庆大学高端装备机械传动全国重点实验室,重庆400044

出　　处：《南京航空航天大学学报》2024年第6期1152-1160,共9页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金项目(51405237);高端装备机械传动全国重点实验室开放基金项目(SKLMT‑MSKFKT‑202330)。

摘　　要：首先,以3条支链直线交于同一点为判定准则,推导机器人的Hunt奇异曲面方程。研究发现,3‑转动副移动副转动副(Revolute‑joint,prismatic‑joint,revolute‑joint,RPR)平面并联机器人的Hunt奇异曲面方程与运用雅可比代数法得到的输出奇异曲面方程完全相同,即两曲面重合。其次,辨识出该机器人4类较常见的Hunt奇异位形,并将它们的奇异轨迹描绘在奇异曲面上,有助于揭示奇异位形之间的关系。接着,设计了3种特殊结构的3‑RPR平面并联机器人,并分析了它们的Hunt奇异性。结果表明,该机器人的Hunt奇异特性对几何结构的依赖性较大。最后,通过虚拟样机和实物样机的实验,论证了3‑RPR平面并联机器人的Hunt奇异性。Initially,the robot’s Hunt singular surface equations are derived by using the criterion where the three linkages intersect at a single point.It is discovered that the Hunt singular surface equations of the 3‑revolute-joint,prismatic-joint,revolute-joint(RPR)planar parallel robot are completely identical to the output singular surface equations obtained using the Jacobian algebraic method,meaning the two surfaces coincide.Furthermore,four commonly occurring types of Hunt singular configurations in the robot are identified,and their singular trajectories are depicted on the singular surface,helping to reveal the relationships between these singular configurations.Subsequently,three special structures of the 3‑RPR planar parallel robot are designed,and their Hunt singularities are analyzed.The results show that the robot's Hunt singularity characteristics are highly dependent on its geometric structure.Finally,the existence of Hunt singularity in the 3‑RPR planar parallel robot is demonstrated through experiments with both virtual and physical prototypes.

关 键 词：并联机器人 奇异性 Hunt奇异 雅可比矩阵 奇异曲面 

分 类 号：TH112[机械工程—机械设计及理论]