一类新型末端铰接高速并联机器人建模与动力尺度综合  

Modeling and Dynamic Dimension Synthesis for a Novel Class of High-speed Parallel Robot with Articulated End Structure

作　　者：梁栋[1,2] 庞书康 宋轶民 畅博彦[1,2] 金国光[1,2] 孙涛 LIANG Dong;PANG Shukang;SONG Yimin;CHANG Boyan;JIN Guoguang;SUN Tao(School of Mechanical Engineering,Tiangong University,Tianjin 300387;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin 300387;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《机械工程学报》2024年第21期38-55,共18页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52175243,52275027,52005368)资助项目。

摘　　要：研究一类新型末端铰接高速并联机器人的建模与尺度综合方法。该类机器人包含两款构型,其由3条近似对称布置的主动支链及1条连接静平台与末端执行器的随动UPU支链构成。与传统Delta并联机器人结构不同,该类机器人末端采用铰接结构,无显式动平台,机器人质量轻盈,从而具备优异的高速/高加速性能;同时,支链被动杆采用偏置设计,使其位置逆、正解均具有解析表达式。首先,借助螺旋理论阐释典型构型的自由度,并指出其结构/运动可拓展性。其次,建立完备的系统运动学与多情形下的刚体动力学模型,借助数值计算与多体动力学软件验证模型的可靠性。在此基础上,充分考虑惯性项、速度项与重力项,构造出动力学性能评价指标,并辅以尺度/几何及运动传递性能等约束,对机构性能开展单调性分析与遗传算法优化求解。最后,将拥有最优尺度参数的新型并联机器人与相同尺度下的Delta并联机器人进行运动学性能对比,结果表明,所提新型并联机器人运动学性能更有优势,应用前景广阔。The modelling and dimensional synthesis methodology for a class of high-speed parallel robot with articulated end structure is investigated.This class of parallel robot includes two configurations,which are composed of three approximately symmetrical active limbs and one UPU passive limb connecting the fixed platform and the end-effector.Different from the traditional Delta parallel robot,articulated end structure is adopted in the mechanism so that no moving platform is included in the robot which is much more lightweight to readily obtain excellent high speed/acceleration performance;meanwhile,offset design is conducted for the passive rods to guarantee the analytical expressions of forward and inverse position.First,screw theory is employed to analyze the degree of freedom of a typical configuration,and the expansibility of structure and motion is highlighted.Second,the complete kinematics and rigid-body dynamic models under different situations are established,and the reliability of them is verified by both numerical computation and mutibody dynamics software.On this basis,several dynamic performance indices are defined in the full consideration of inertia,velocity and gravity items,and the monotonicity analysis and genetic algorithm optimization are conducted with the aid of dimension/geometry and kinematic performance constraints.Finally,the kinematic performance of the novel parallel robot and the traditional Delta robot is compared under the same dimension parameters after optimization.The results manifest that,the novel parallel robot has better kinematic performance and has prosperous application prospect.

关 键 词：末端铰接 高速并联机器人 动力学建模 尺度综合 性能对比 

分 类 号：TH112[机械工程—机械设计及理论]