机械工程学报 >

2018 , Vol. 54 >Issue 3: 36 - 45

DOI: https://doi.org/10.3901/JME.2018.03.036

机构学及机器人

四自由度2PPPaR并联机构运动学及性能分析

  • 吴存存 ,
  • 杨桂林 ,
  • 陈庆盈 ,
  • 张驰 ,
  • 刘树林
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  • 1. 上海大学机电工程与自动化学院 上海 200240;
    2. 中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室 宁波 315201
吴存存,女,1986年出生。主要研究方向为并联机器人。E-mail:wucuncun@nimte.ac.cn;陈庆盈,男,1976年出生,博士,研究员,硕士研究生导师。主要研究方向为机电一体化、机器人设计、水下载具设计。E-mail:chenchinyin@nimte.ac.cn;张驰,男,1978年出生,博士,博士研究生导师。主要研究方向为精密运动系统及控制。E-mail:zhangchi@nimte.ac.cn;刘树林,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为复杂设备故障诊断。E-mail:lsl346@shu.edu.cn

收稿日期: 2016-11-30

  修回日期: 2017-09-07

  网络出版日期: 2018-02-05

基金资助

国家自然科学基金（51575331，51475448，U1509202）和宁波市新一代机器人核心部件关键技术创新团队（2016B10016）资助项目。

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Kinematic and Performance Analysis of a 4-DOF 2PPPaR Parallel Manipulator

  • WU Cuncun ,
  • YANG Guilin ,
  • CHEN Chinyin ,
  • ZHANG Chi ,
  • LIU Shulin
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  • 1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200240;
    2. Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201

Received date: 2016-11-30

  Revised date: 2017-09-07

  Online published: 2018-02-05

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摘要

提出一种可以实现三个移动和一个转动（3T1R）的新型四自由度并联机构—2PPPaR并联机构，它通过两个转动副将两条相同支链与动平台相连，每条支链均采用平行四边形机构，通过安装在水平和垂直方向的两台直线电机驱动。该并联机构具有结构简单、构型对称、工作空间大、速度快且定位精度高的特点，可广泛用于高速高精度的分拣、包装、码垛操作中，具有较好的工业应用前景。基于螺旋理论验证了该机构自由度的数目和性质，分析了该机构的运动学特性，得到了其位置的封闭解，并通过算例进行了验证。基于机构的Jacobian矩阵分析了该机构的奇异性，给出了几种典型的奇异构型，利用解析法和数值法确定了机构的可达位置工作空间，分析姿态角和各设计参数对可达位置工作空间体积的影响，研究了机构可达位置工作空间的形状及满足的几何约束条件，为后续机构的优化设计和轨迹规划提供理论依据。

关键词： 并联机构; 自由度; 运动学; 奇异性; 工作空间

本文引用格式

吴存存 , 杨桂林 , 陈庆盈 , 张驰 , 刘树林 . 四自由度2PPPaR并联机构运动学及性能分析[J]. 机械工程学报, 2018 , 54(3) : 36 -45 . DOI: 10.3901/JME.2018.03.036

Abstract

A new four-degree-of-freedom (4-DOF) 2PPPaR parallel manipulator that can produce 3-DOF translations and 1-DOF rotation (3T1R), has been proposed. It has two identical legs connected to the moving platform through passive revolute joints, and each leg is driven by two linear motors that are perpendicular to each other. Due to such a unique kinematic structure, the 4-DOF parallel manipulator has the advantages of simple kinematics, large workspace, high speed, and high positioning accuracy. These advantages make it an appropriate candidate for high-speed and high-precision pick-and-place operations. To validate the proposed parallel manipulator design, mobility analysis is conducted based on screw theory. To understand the kinematic characteristics of the parallel manipulator, the forward kinematics and the inverse kinematics are studied, the closed solution of the position solutions are obtained, and the possible singularities are analysed by the velocity mapping model. Finally, the reachable workspace and the possible workspace shapes are discussed by numerical method and analytic method in details. The research of the parallel manipulator has significant guide for the following researches such as design optimization and trajectory planning.

Key words： parallel manipulator; degree-of-freedom; kinematics; singularity; workspace

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