基于 2UPU-2SPR 的新型五自由度混联机器人  

Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR

作　　者：张展魁 岳义 韦宝琛 李修广 廖忠骏 许朝阳 ZHANG Zhankui;YUE Yi;WEI Baochen;LI Xiuguang;LIAO Zhongjun;XU Zhaoyang(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620)

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

出　　处：《机械工程学报》2025年第1期114-122,共9页Journal of Mechanical Engineering

基　　金：上海市地方院校能力建设(22010501700);国家自然科学基金(51905337)资助项目。

摘　　要：提出一种2UPU-2SPR(U:虎克铰,P:移动副,R:转动副)的新型两转一移(2R1T)并联机构,该机构中两条SPR运动支链的R副轴线互相垂直,存在两种不同的空间布局方式;两种不同构型在定平台处均存在两条连续转轴,且每个运动支链均提供一个约束,构成空间约束力系。基于所提2UPU-2SPR并联机构设计了一种新型的可用于重载应用领域的五自由度混联机器人,并通过闭环矢量法、Sylvester消元法求解了该混联机器人的解析解逆解;通过提炼关键几何模型,将空间三维问题转化为二维平面问题,获得混联机器人解析正解。基于算例和Adams仿真验证了所推导解析正、逆解模型的正确性。在此基础上,求解了混联机器人的工作空间,并完成了五自由度混联机器人虚拟样机设计。该混联机器人在重载加工领域具有良好的应用前景。A novel two rotational and one translational parallel mechanism based on the 2UPU-2SPR is presented.The R-axis lines of the two SPR limbs are perpendicular,resulting in two spatial layout.Both configurations feature two continuous rotation axes at the base,with each limb providing one constraint,forming a spatial constraint force system.A novel five-degree-of-freedom(5-DOF)hybrid robot for heavy-duty applications is designed based on the proposed 2UPU-2SPR parallel mechanism.Analytical inverse kinematics solutions for this HR are obtained using closed-loop vector method and Sylvester elimination method.By extracting key geometric models and transforming the spatial three-dimensional problem into a two-dimensional plane problem,analytical forward kinematics solutions for the hybrid robot are derived.The correctness of the analytical forward and inverse kinematics models is validated through numerical examples and Adams simulations.Furthermore,the workspace of the hybrid robot is determined,and a virtual prototype design for the 5-DOF hybrid robot is accomplished.The presented HR demonstrates promising prospects in the field of heavy-duty machining.

关 键 词：2R1T并联机构 连续转轴 混联机器人 解析正逆解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]