摘要
研究一类新型5自由度可重构混联机械手的创新设计和尺度综合问题,该机械手模块由一2自由度球面并联机构和一条通过滑移副与之串接的两转动一移动串联运动链组成。该混联机械手由于将定点转动与相对滑移运动解耦,因此具有工作空间/支链行程比大的特点,适合高速轻载作业,可作为即插即用模块用于搭建不同类型的加工制造装备。在建立2自由度球面并联机构的速度映射模型的基础上,分析该机构的奇异性和各向同性问题,并以速度雅可比矩阵最小奇异值的全域均值为操作性能指标,研究2自由度球面并联机构的尺度综合问题。通过单调性分析揭示出尺度参数对该指标的影响规律,进而将尺度综合问题简化为求解杆长等式约束问题。最后给出一组算例,使该尺度综合方法的有效性得到验证。
The conceptual design and dimensional synthesis of a novel 5-DOF reconfignrable hybrid robot module are presented. The module is composed of a 2-DOF parallel spherical mechanism which is serially connected with a 3-DOF open loop kinematic chain by a prismatic joint. The merit of this design is that a relatively large workspace/limb-stroke ratio can be achieved due to the decomposition of the fixed point rotation and the relative translation. The proposed 5-DOF hybrid robot can be employed as a plug-and-play module to configure different machines for the circumstances where high-speed yet light payload is required. The singularity and isotropy of the 2-DOF spherical parallel mechanism are analyzed based on the velocity mapping function. The dimensional synthesis of the 2-DOF spherical parallel mechanism is carried out with a goal to maximize the mean value of the minimum singular value of the Jacobian matrix in the workspace subject to a set of appropilate mechanical constraints. The results of the optimal kinematic design are given via examples.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第6期14-20,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(50375106
50328506
50510488
50535010)
天津市科技攻关(043103711)资助项目。
关键词
并联机器人
可重构性
概念设计
尺度综合
Parallel robot Reconfignrability Conceptual design Dimensional synthesis
