一种两级混联机械臂的工作空间及静刚度分析  

Analysis on two-stage hybrid manipulator’s workspace and static stiffness

作　　者：张春燕 于新悦 杨杰 殷兴鲁 ZHANG Chunyan;YU Xinyue;YANG Jie;YIN Xinglu(School of Mechanical and Automotive Engineering,Shanghai University of Engineering and Technology,Shanghai 201620;Shanghai Xunrui Automation Technology Co.,Ltd.,Shanghai 201613)

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]上海巡瑞自动化科技有限公司,上海201613

出　　处：《机械设计》2025年第3期29-38,共10页Journal of Machine Design

基　　金：考虑蜗杆副啮合质量的环面蜗轮滚刀几何结构单齿等前角设计方法研究(52005317)。

摘　　要：针对目前混联机械臂无法满足多任务∕高适应性装备工况的多操作模式需求,在分析由对称8R运动分岔机构和3-RSR∕S并联基座组成的两级混联机械臂结构特点的基础上,分析两级混联机械臂的工作空间及静刚度特性。首先对机械臂{Ⅰ}级单元的SOM和POM两种模式进行位置分析,通过静刚度矩阵得到各模式的特征值分布图,进行静刚度性能分析。然后,对3-RSR∕S并联基座进行逆解分析,利用蒙特卡洛法,采用数值搜索法,对3-RSR∕S并联基座的位置、姿态空间进行求解。最后结果表明,具有串并混联和并并混联的两级机械臂在刚度和工作空间上存在差异和互补性,在多任务∕高适应性装备工况时,在工作空间允许范围内,机械臂在3-RSR∕S并联基座连续稳定的区域内,采用POM模式比SOM模式更稳定,这一结论可为这一类一机多用的混联机构应用提供了理论指导。Currently,since the hybrid manipulators cannot meet the multi-operation mode requirement of multi-task∕highly-adaptive equipment working conditions,in this article the analysis is conducted on the two-stage hybrid manipulator’s structure characteristics,which is composed of a symmetrical 8R motion bifurcation mechanism and a 3-RSR∕S parallel base;on this basis,the manipulator’s workspace and static stiffness characteristics are explored.Firstly,the analysis is carried out the positions of both SOM and POM modes of the manipulator{Ⅰ}element;the eigenvalue distribution of each mode is worked out through the static stiffness matrix,and the static stiffness performance is explored.Then,the 3-RSR∕S parallel base is subject to the inverse solution analysis,and its position and attitude space are solved with the help of the Monte Carlo method and the numerical search method.The results show that there are differences and complementarities in stiffness and workspace of the two-stage manipulator with series-parallel hybrid connection and parallel-parallel hybrid connection.Under the multi task∕highly adaptive equipment working conditions,the POM mode is more stable than the SOM mode in the continuous and stable area of the 3-RSR∕S parallel base within the allowable workspace.This conclusion lays theoretical foundation for application of similar multi-functional hybrid mechanisms.

关 键 词：多操作模式 两级混联 机械臂 工作空间 静刚度分析 

分 类 号：TG156[金属学及工艺—热处理]