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2RPU+2UPR+RPR多冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析與優(yōu)化
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國(guó)家自然科學(xué)基金項(xiàng)目（52105036）和河北省科技項(xiàng)目（206Z1805G）


Kinematic Analysis and Dimension Optimization of Multi-redundantly Actuated Parallel Mechanism 2RPU+2UPR+RPR
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    摘要:

    提出一種RPR型多冗余驅(qū)動(dòng)兩轉(zhuǎn)一移并聯(lián)機(jī)構(gòu)2RPU+2UPR+RPR?；诼菪碚摻C(jī)構(gòu)運(yùn)動(dòng)螺旋系與約束螺旋系，分析機(jī)構(gòu)自由度性質(zhì)；建立機(jī)構(gòu)運(yùn)動(dòng)學(xué)模型，基于軟件仿真結(jié)果驗(yàn)證理論模型正確性；推導(dǎo)機(jī)構(gòu)傳遞螺旋系，建立機(jī)構(gòu)局部性能指標(biāo)與全域性能指標(biāo)；基于優(yōu)質(zhì)工作空間和優(yōu)質(zhì)傳遞性能分布對(duì)機(jī)構(gòu)進(jìn)行尺度優(yōu)化，獲得機(jī)構(gòu)優(yōu)化尺度與傳遞性能圖譜，分析關(guān)鍵尺度參數(shù)對(duì)機(jī)構(gòu)傳遞性能的影響；基于雅可比矩陣和傳遞性能分布分析優(yōu)化尺度下機(jī)構(gòu)奇異特性，機(jī)構(gòu)在優(yōu)化空間內(nèi)無(wú)奇異位形。

    Abstract:

    A RPR-type multi-redundantly actuated parallel mechanism 2RPU+2UPR+RPR with freedom of two-rotation-one-translation was proposed. It can be used to design a variety of robots used in heavy loads and precision occasions. Motion and constraint screws about the mechanism were analyzed based on the screw theory, and with that the number and properties of degrees of freedom were analyzed. Kinematic model of the mechanism was developed and validated by simulation results. Transfer screw system of the mechanism was derived, and motion/force transfer index of the mechanism were established, including local and global performance index. In addition, the distribution characteristics of the performance index was analyzed. Dimension of the mechanism was optimized based on the quality workspace and quality transfer performance, and the optimized dimension was obtained, as well as the transmission performance map at the optimized dimension. What’s more, the influence of key dimension parameters on the mechanism transfer performance was analyzed. To verify the results of the dimension optimization, singular properties at the optimized dimension were analyzed based on Jacobian matrix and transmission performance maps. The research result would provide a reference for the theoretical research and application of this multi-redundantly actuated parallel mechanism.

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劉曉飛,劉洋,何陽(yáng),萬(wàn)波,劉宇,趙永生.2RPU+2UPR+RPR多冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析與優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2023,54(3):440-450. LIU Xiaofei, LIU Yang, HE Yang, WAN Bo, LIU Yu, ZHAO Yongsheng. Kinematic Analysis and Dimension Optimization of Multi-redundantly Actuated Parallel Mechanism 2RPU+2UPR+RPR[J]. Transactions of the Chinese Society for Agricultural Machinery,2023,54(3):440-450.

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  • 收稿日期:2022-11-03
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  • 在線發(fā)布日期: 2023-03-10
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