机械工程学报 >

2018 , Vol. 54 >Issue 19: 18 - 26

DOI: https://doi.org/10.3901/JME.2018.19.018

机构学及机器人

基于球面五杆机构的变胞并联机构构型综合

  • 王冰 ,
  • 方跃法
展开
  • 北京交通大学机械工程系 北京 100044
王冰,男,1976年出生,副教授,博士研究生。主要研究方向为机构学与机器人学。E-mail:13116337@bjtu.edu.cn

收稿日期: 2017-10-28

  修回日期: 2018-02-25

  网络出版日期: 2018-10-05

基金资助

国家自然科学基金资助项目（51675037）。

收起

Type Synthesis of Metamorphic Parallel Mechanism with Spherical Five Bar Linkage

  • WANG Bing ,
  • FANG Yuefa
Expand
  • Department of Mechanical Engineering, Beijing Jiao Tong University, Beijing 100044

Received date: 2017-10-28

  Revised date: 2018-02-25

  Online published: 2018-10-05

Fold

摘要

提出一类基于球面五杆机构的变胞并联机构。基于具有解耦特性的球面五杆机构，应用螺旋理论综合出一类具有变胞特性的可重构混联支链，该混联支链由一个球面五杆机构和一个四自由度串联支链混联而成，应用三条相同的所述可重构混联支链构型出一类变胞并联机构。不同于现有利用约束奇异和支链奇异综合可重构并联机构的方法，提出利用球面五杆机构的解耦特性和关节锁死的方法来实现并联机构的可重构，因此该类变胞并联机构可有效避免重构过程中的约束奇异以及支链奇异。该类变胞并联机构可在一个广泛的范围内变换其工作模式和自由度，且伺服电动机均可安装在机构的固定平台。提到的方法可应用于其他基于解耦闭链的变胞并联机构构型综合。

关键词： 并联机构; 可重构机构; 变胞机构; 螺旋理论; 构型综合; 球面五杆机构

本文引用格式

王冰 , 方跃法 . 基于球面五杆机构的变胞并联机构构型综合[J]. 机械工程学报, 2018 , 54(19) : 18 -26 . DOI: 10.3901/JME.2018.19.018

Abstract

A new family of metamorphic parallel mechanism with spherical five bar linkage is presented. Based on the spherical five bar linkage with decoupling performance, reconfigurable hybrid limbs with metamorphic performance are obtained by using screw theory. Reconfigurable hybrid limbs are obtained by integrating the spherical five bar linkage with four degree of freedom serial limbs. A class of metamorphic parallel mechanisms is constructed with three identical hybrid limbs connecting the moving platform and the fixed base. Different from the existing methods by using constraint singular configuration or self-motion of sub-chain of a leg to synthesis reconfigurable parallel mechanisms, an approach to the type synthesis of metamorphic parallel mechanism with lockable joints by using five bar linkage with decoupling performance is presented. It is found that these metamorphic parallel mechanisms do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. It is also found that these metamorphic parallel mechanisms have the ability to change working mode and mobility in a wide range, and all servomotors can be arranged on the base. The approach can also be used for synthesizing other classes of metamorphic parallel mechanism with decoupling closed loop linkage.

Key words： parallel mechanism; reconfigurable mechanism; metamorphic mechanism; screw theory; type synthesis; spherical five bar linkage

参考文献

[1] XI F,XU Y,XIONG G. Design and analysis of a re-configurable parallel robot[J]. Mechanism and Machine Theory,2006,41(2):191-211.
[2] FISHER R,PODHORODESKI R P,NOKLEBY S B. Design of a reconfigurable planar parallel manipulator[J]. Journal of Robotic Systems,2004,21(12):665-675.
[3] ZLATANOV D,BONEV I A,GOSSELIN C M. Constrain singularities of parallel mechanisms[C]//IEEE International Conference on Robotics and Automation,May 14-15,2002,Washington D C,New York:IEEE,2002:496-503.
[4] YE Wei,FANG Yuefa,ZHANG Ketao,et al. A new family of reconfigurable parallel mechanism with diamond kinematotropic chain[J]. Mechanism and Machine Theory,2014,74:1-9.
[5] 叶伟,方跃法,郭盛,等. 一种新型并联机构的运动分岔特性及运动学分析[J]. 机械工程学报,2013,49(13):8-16. YE Wei,FANG Yuefa,GUO Sheng,et al. Bifurcated motion and kinematics of novel parallel mechanism[J]. Journal of Mechanical Engineering,2013,49(13):8-16.
[6] 叶伟,方跃法,郭盛,等. 基于运动限定机构的可重构并联机构设计[J]. 机械工程学报,2015,51(13):137-143. YE Wei,FANG Yuefa,GUO Sheng,et al. Design of reconfigurable parallel mechanisms with discontinuously movable mechanism[J]. Journal of Mechanical Engineering,2015,51(13):137-143.
[7] 李秦川,陈巧红,武传宇,等. 变自由度4-并联机构[J]. 机械工程学报,2009,45(1):83-87. LI Qinchuan,CHEN Qiaohong,WU Chuanyu,et al. 4-parallel mechanism with variable mobility[J]. Journal of Mechanical Engineering,2009,45(1):83-87.
[8] LI Q C,HERVE J M. Parallel mechanism with bifurcation of schoenflies motion[J]. IEEE Transaction on Robotics,2009,25(1):158-164.
[9] KONG X W. Type synthesis of 3-DOF parallel manipulators with both a planar operation mode and a spatial translational operation mode[J]. Journal of Mechanisms and Robotics,2013,5:239-254.
[10] KONG X W,GOSSELIN C M,RICHARD P. Type synthesis of parallel mechanisms with multiple operation modes[J]. Journal of Mechanical Design,2007,129:595-601.
[11] FANGHELLA P,GALLETTI C,GIANNOTTI E. Advances in robot kinematics[M]. Berlin:Springer Netherlands Press,2006:49-56.
[12] YE Wei,FANG Yuefa,ZHANG Ketao,et al. Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs[J]. Robotics and Computer-Integrated Manufacturing,2016,41:145-162.
[13] YE Wei, FANG Yuefa,GUO Sheng. Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing[J]. Mechanism and Machine Theory,2017,112:307-326.
[14] YE Wei,FANG Yuefa,GUO Sheng. Reconfigurable parallel mechanism with planar five-bar metamorphic linkages[J]. Science China Technological Science,2014,57(1):210-218.
[15] TIAN Chunxu,FANG Yuefa,GUO Sheng,et al. A class of reconfigurable parallel mechanisms with five-bar metamorphic linkage[J]. Proceeding of the Institution of Mechanical Engineering,Part C:Journal of Mechanical Engineering Science,2017,231:2089-2099.
[16] TIAN Chunxu,FANG Yuefa,GUO Sheng,et al. Structure synthesis of reconfigurable parallel mechanism with closed-loop metamorphic linkages[J]. Proceeding of the Institution of Mechanical Engineering,Part C:Journal of Mechanical Engineering Science,2017,0:1-14.
[17] ZHANG Ketao,DAI Jiansheng. Screw-system-variation enabled reconfiguration of the Bennett plano-spherical hybrid linkage and its evolved parallel mechanism[J]. ASME Journal of Mechanical Design,2015,137:062303.
[18] ZHANG Ketao,DAI Jiansheng,FANG Yuefa. Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism[J]. ASME Journal of Mechanical Design,2010,132:121001.
[19] ZHANG Ketao,DAI Jiansheng,FANG Yuefa. Geometric constraint and mobility variation of two 3SvPsSv metamorphic parallel mechanism[J]. ASME Journal of Mechanical Design,2013,135:011001.
[20] GAN Dongming,DAI Jiansheng,DIAS J,et al. Variable motion/force transmissibility of a metamorphic parallel mechanism with reconfigurable 3T and 3R motion[J]. ASME Journal of Mechanisms and Robotics,2016,8:051001.
[21] GAN Dongming,DAI Jiansheng,JORGE D,et al. Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws[J]. Robotics and Computer-Integrated Manufacturing,2013,29:121-128.
[22] GAN Dongming,DAI Jiansheng,DIAS J,et al. Unified kinematics and singularity analysis of a metamorphic parallel mechanism with bifurcated motion[J]. ASME Journal of Mechanisms and Robotics,2013,5:031004.
[23] GAN Dongming,DAI Jiansheng,CALDWELL D G. Constraint-based limb synthesis and mobility change aimed mechanism construction[J]. ASME Journal of Mechanical Design,2011,133:051001.
[24] GAN Dongming,DAI Jiansheng,LIAO Qizheng. Mobility change in two type of metamorphic parallel mechanisms[J]. ASME Journal of Mechanisms and robotics,2009,1:041007.
[25] GAN Dongming,DAI Jiansheng,LIAO Qizheng. Constraint analysis on mobility change of a novel metamorphic parallel mechanism[J]. Mechanism and Machine Theory,2010,45:1864-1876.
[26] GAN Dongming,DAI Jiansheng,SENEVIRATNE L. Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with a reconfigurable revolute joint[J]. Mechanism and Machine Theory,2016,96:239-254.
[27] CARBONARI L,CALLEGARI M,PALMIERI G,et al. A new class of reconfigurable parallel kinematic machines[J]. Mechanism and Machine Theory,2014,79:173-183.
[28] PALPACELLI M,CARBONARI L,PALMIERI G. A lockable spherical joint for robotic applications[C]//IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications,Sept. 10-12,2014. IEEE/ASME,2014:1-6.
[29] KONG Xianwen,JIN Yan. Type synthesis of 3-DOF multi-mode translational/spherical parallel mechanisms with lockable joints[J]. Mechanism and Machine Theoty,2016,96:323-333.
[30] GOSSELIN C M,CARON F. Two degree-of-freedom spherical orienting device:US,5966991[P]. 1999-10-19.
[31] 黄真,刘婧芳,李艳文. 论机构的自由度[M]. 北京:科学出版社,2011. HUNG Zhen,LIU Jingfang,LI Yanwen. Mobility methodology for mechanism[J]. Beijing:Science Press,2011.
[32] FANG Yuefa,TSAI L W. Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb[J]. The International Journal of Robotics Research,2002,21(9):799-810.
[33] 赵铁石,黄真. 欠秩空间并联机器人输入选取的理论与应用[J]. 机械工程学报,2000,36(10):81-85. ZHAO Tieshi,HUANG Zhen. Theory and application of selecting actuating components of spatial parallel mechanism[J]. Journal of Mechanical Engineering,2000,36(10):81-85.
Options
文章导航

/

〈 〉

版权所有 © 《机械工程学报》编辑部

技术支持：北京玛格泰克科技发展有限公司