3PRS/UPS冗余驱动并联机器人刚度特性分布

郭江真; 王丹; 樊锐; 陈五一

doi:10.13700/j.bh.1001-5965.2013.0304

3PRS/UPS冗余驱动并联机器人刚度特性分布

doi: 10.13700/j.bh.1001-5965.2013.0304

北京航空航天大学机械工程及自动化学院, 北京 100191

基金项目:

高档数控机床与基础制造装备重大专项资助项目（2012ZX04010-021）

详细信息

作者简介:
郭江真（1986- ），男，山西太原人，博士生，jiangzhen.guo@me.buaa.edu.cn.

中图分类号: TP242
计量
- 文章访问数: 1432
- HTML全文浏览量: 157
- PDF下载量: 552
- 被引次数: 0
出版历程
- 收稿日期: 2013-05-28
- 网络出版日期: 2014-04-20

Stiffness characteristics distribution of 3 PRS/UPS parallel manipulator with actuation redundancy

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 设计提出了一种采用冗余驱动的3PRS/UPS三自由度并联机器人，并建立分析其机构模型.基于螺旋理论，对并联机器人进行运动学分析，通过分别针对机构的驱动和约束建立了雅可比矩阵，最后整合建立了包含冗余驱动在内的全雅可比矩阵.利用虚功原理，结合并联机器人驱动副和约束副的柔度影响，推导得出了机构全刚度矩阵.同时，分析了机构在给定静载荷条件下的变形情况，总结出机构的空间变形分布规律.使用刚度矩阵的最小、最大特征值和运动刚度指标（KSI，Kinematic Stiffness Index）为机构刚度评价指标，对比和分析了引入冗余驱动前后对并联机器人刚度特性分布的影响，得出冗余驱动支链的引入可提高并联机器人特定方向的刚度和改善刚度分布的结论，为冗余驱动并联机器人优化设计和开发应用奠定基础.
- 冗余驱动并联机构 /
- 螺旋理论 /
- 刚度特性 /
- 评价指标
Abstract: A three degree of freedom (DOF) 3PRS/UPS parallel manipulator with actuation redundancy was designed and investigated. The architectural model was constructed and the kinematic analysis was presented based on screw theory. The overall Jacobian matrix including redundant actuation was derived through respectively establishing the actuation and constraint Jacobian matrices. The overall stiffness matrix was derived by virtual work principle, in which the compliances subject to actuators and constraints were involved. The deformation of manipulator under static load was calculated, and its distribution rule was established. Utilizing the extremun eigenvalue of stiffness matrix and kinematic stiffness index (KSI), the stiffness performance of the manipulator was evaluated. The influence to the stiffness characteristics distribution of the manipulator after introducing redundant actuation was compared and analyzed. It was concluded that the redundant actuation can increase the stiffness along specific axis and improve its stiffness characteristics distribution, which will be valuable for the architecture design of a parallel manipulator with actuation redundancy.
- parallel manipulator with actuation redundancy /
- screw theory /
- stiffness characteristics /
- evaluation index

HTML全文

参考文献(10)

[1]	白志富, 陈五一.球铰刚度计算模型及靠冗余支链实现并联机床刚度的改善[J].机械工程学报, 2006, 42(10):142-145 Bai Zhifu, Chen Wuyi.Stiffness computation model of spherical joints and PKM's stiffness improvement by redundant leg[J].Chinese Journal of Mechanical Engineering, 2006, 42(10): 142-145(in Chinese)
[2]	白志富, 韩先国, 陈五一.冗余驱动消除并联机构奇异研究[J].航空学报, 2006, 27(4):733-736 Bai Zhifu, Han Xianguo, Chen Wuyi.Study on elimination singularities of parallel mechanism by actuation redundancy[J].Acta Aeronautica et Astronautica Sinica, 2006, 27(4):733-736(in Chinese)
[3]	白志富, 韩先国, 陈五一.基于冗余驱动的大姿态角并联机构优化设计[J].北京航空航天大学学报, 2006, 32(7):856-859 Bai Zhifu, Han Xianguo, Chen Wuyi.Optimal design of parallel mechanisms with large tilting ability based on redundant actuation[J].Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(7):856-859(in Chinese)
[4]	Portman V T, Chapsky V S, Shneor Y.Workspace of parallel kinematics machines with minimum stiffness limits: collinear stiffness value based approach[J].Mechanism and Machine Theory, 2012, 49:67-86
[5]	Wu J, Wang J S, Wang L P, et al.Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy[J].Mechanism and Machine Theory, 2009, 44(2):289-305
[6]	Chakarov D.Study of the antagonistic stiffness of parallel manipulators with actuation redundancy[J].Mechanism and Machine Theory, 2004, 39(6):583-601
[7]	张立杰, 刘颖, 黄真.平面2自由度驱动冗余并联机器人的性能分析[J].机械工程学报, 2006, 42(7):181-185 Zhang Lijie, Liu Ying, Huang Zhen.Analysis of performances of planar 2-DOF parallel manipulator with actuation redundancy[J].Chinese Journal of Mechanical Engineering, 2006, 42(7):181-185(in Chinese)
[8]	吕亚楠, 王立平, 关立文.一种冗余并联机床静刚度有限元分析与优化设计[J].机械设计与制造, 2008(2):1-3 LÜ Yanan, Wang Liping, Guan Liwen.The finite element analysis and optimization of static stiffness of a parallel machine tool with actuation redundancy[J].Machinery Desigh & Manufacture, 2008(2):1-3(in Chinese)
[9]	梁辉, 白志富, 陈五一.具有内力的3PRS/UPS冗余并联机床刚度分析[J].机械设计, 2007, 24(1):23-25 Liang Hui, Bai Zhifu, Chen Wuyi.Rigidity analysis of 3PRS/UPS redundant parallel machine tools with interior forces[J].Journal of Machine Desigh, 2007, 24(1):23-25(in Chinese)
[10]	Rezaei A, Akbarzadeh A, Akbarzadeh-T M R. An investigation on stiffness of a 3-PSP spatial parallel mechanism with flexible moving platform using invariant form[J].Mechanism and Machine Theory, 2012, 51:195-216