摘要
提出一种新型非对称五自由度混联机器人,由三自由度1T2R位置型并联机构和二自由度A/C转头串接组成。为保证机器人具有近似面对称的性能,围绕其中的并联机构开展尺度综合研究。通过定义并联机构的参考位形,提出一种凝练独立尺度参数的方法,并定义出可评价工作空间、运动/力传递特性及其面对称程度的运动学性能指标。在此基础上,将机构尺度综合问题归结为一类有约束多目标优化问题,并采用范数理想点法,得到一组可使机构兼具优良的运动/力传递特性及大作业空间/机构占地比的尺度参数,同时运动/力传递特性在全域内具有近似面对称乃至轴对称分布。在相同尺度参数下与Exechon和TriMule机器人的对比分析表明,该机器人具有与二者近似的全域运动学性能。
A novel asymmetric 5-DOF hybrid robot was proposed,which composed of a 3-DOF 1T2R parallel mechanism and a 2-DOF A/C wrist.In order to achieve a nearly plane symmetric kinematic performance,the dimensional synthesis approach of the 3-DOF parallel mechanism was subsequently investigated.Firstly an approach to extract the dimensional parameters was presented by the definition of the reference configuration.Then a set of kinematic indices were proposed for evaluating the workspace,motion/force transmissibility and level of plane symmetry.Finally the optimal dimensional synthesis was theoretically formulated as a multi-objective optimization problem with constrains,leading to a set of homogeneous dimensionless parameters that were enable to achieve both of large ratio of workspace volume over footprint and good motion/force transmissibility with a nearly plane symmetric and even axisymmetric distribution.A comparison study shows the novel hybrid robot has a very similar global kinematic performance to that of the Exechon and TriMule provided that they both have same dimensions.
作者
董成林
刘海涛
杨俊豪
DONG Chenglin;LIU Haitao;YANG Junhao(Science and Technology on Reactor System Design Technology Laboratory,Nuclear Power Institute of China,Chengdu,610041;Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin,300354)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2021年第20期2418-2426,共9页
China Mechanical Engineering
基金
国防基础科研项目(JCKY2017203B066)
国家自然科学基金(91948301)。
关键词
混联机器人
尺度综合
多目标优化
运动学性能
hybrid robot
dimensional synthesis
multi-objective optimization
kinematic performance
