一种新型并联灌注机器人运动学分析和多目标优化

杨会; 房海蓉; 李典; 方跃法

doi:10.13700/j.bh.1001-5965.2017.0157

一种新型并联灌注机器人运动学分析和多目标优化

doi: 10.13700/j.bh.1001-5965.2017.0157

杨会¹,
房海蓉^{1, 2, ,},
李典¹,
方跃法^{1, 2}

1.
北京交通大学机械与电子控制工程学院机器人研究中心, 北京 100044
2.
北京交通大学载运工具先进制造与测控技术教育部重点实验室, 北京 100044

基金项目:

国家自然科学基金 51675037

详细信息

作者简介:
杨会  女, 博士研究生。主要研究方向:并联机器人机构学

房海蓉  女, 博士, 教授, 博士生导师。主要研究方向:并联机器人机构学、数字化制造技术与装备、机电装备系统设计

李典  男, 博士研究生。主要研究方向:并联机器人机构学

方跃法  男, 博士, 教授, 博士生导师。主要研究方向:机器人学、CAD/CAM、机械系统动力学、现代机械设计

通讯作者:
房海蓉, E-mail: hrfang@bjtu.edu.cn

中图分类号: TH112
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- 被引次数: 0
出版历程
- 收稿日期: 2017-03-17
- 录用日期: 2017-05-12
- 网络出版日期: 2018-03-20

Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot

YANG Hui¹,
FANG Hairong^{1, 2
, ,},
LI Dian¹,
FANG Yuefa^{1, 2}

1.
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
2.
Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, China

Funds:

National Natural Science Foundation of China 51675037

More Information

Corresponding author: FANG Hairong, E-mail: hrfang@bjtu.edu.cn

摘要

摘要:
针对大型航天器蜂窝结构灌注需求，提出一种新型串并混联灌注机器人机构，主要对并联机构进行分析研究。首先，对3PSS-PU并联机构进行了运动学分析，建立了运动学反解数学模型和雅可比矩阵；其次，确定了影响机构工作空间主要因素的约束条件，求解出了机构的工作空间；然后，建立了机构的刚度模型，求得机构在运动过程中的刚度变化分布；最后，利用遗传算法，以工作空间和全局刚度为目标对机构结构参数进行优化分析，确定了最终的机构尺寸参数，为蜂窝灌注机器人应用奠定基础。
- 并联灌注机器人 /
- 运动学分析 /
- 工作空间 /
- 刚度 /
- 多目标优化
Abstract:
In order to meet the demand of honeycomb structure perfusion of large spacecraft, a novel hybrid perfusion robot is proposed. This article mainly focuses on the analysis of the parallel mechanism. First, the kinematics analysis of 3PSS-PU parallel mechanism is conducted, and the inverse kinematic model and Jacobian matrix of 3PSS-PU mechanism are established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the reachable workspace is obtained. Next, stiffness model of the mechanism is established, and stiffness distribution of the mechanism in the process of movement is displayed. Finally, aimed at workspace volume and global stiffness, multi-objective optimization analysis of structure parameters is performed based on genetic algorithm, and final dimension parameters of the mechanism are obtained. This work would lay the foundation for the application of the honeycomb perfusion robot.
- parallel perfusion robot /
- kinematics analysis /
- workspace /
- stiffness /
- multi-objective optimization

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图 1 串并混联灌注机器人系统

Figure 1. Serial-parallel perfusion robot system

下载: 全尺寸图片幻灯片

图 2 3PSS-PU机构运动简图

Figure 2. Kinematic sketch of 3PSS-PU mechanism

下载: 全尺寸图片幻灯片

图 3 中间被动支链各运动副的局部坐标系

Figure 3. Local coordinate system of every kinematic pair of middle passive link

下载: 全尺寸图片幻灯片

图 4 3PSS-PU并联机构的工作空间及其左、右视图

Figure 4. Workspace of 3PSS-PU parallel mechanism and its right and left side views

下载: 全尺寸图片幻灯片

图 5 k₂₂在θ₂方向上随着θ₂和z_m变化的刚度分布(θ₁=0.3 rad)

Figure 5. Stiffness distribution of k₂₂ along θ₂ with change of θ₂ and z_m (when θ₁=0.3 rad)

下载: 全尺寸图片幻灯片

图 6 k₂₂在θ₂方向上随着θ₁和z_m变化的刚度分布(θ₂=0.3 rad)

Figure 6. Stiffness distribution of k₂₂ along θ₂ with change of θ₁ and z_m (when θ₂=0.3 rad)

下载: 全尺寸图片幻灯片

图 7 k₂₂在θ₂方向上随着θ₁和θ₂变化的刚度分布(z_m=210 mm)

Figure 7. Stiffness distribution of k₂₂ along θ₂ with change of θ₁ and θ₂ (when z_m=210 mm)

下载: 全尺寸图片幻灯片

图 8 目标函数收敛图

Figure 8. Convergence graph of objective function

下载: 全尺寸图片幻灯片

表 1 3PSS-PU并联机构结构参数

Table 1. Structural parameters of 3PSS-PU parallel mechanism

参数	数值
R_m/mm	250
l_i/mm	220
φ₁/(°)	60
ϕ₁/(°)	60
s_imin/mm	0
s_imax/mm	450
α_imin/(°)	50
α_imax/(°)	120
β_imin/(°)	50
β_imax/(°)	120

下载: 导出CSV

表 2 3PSS-PU并联机构优化设计参数

Table 2. Optimum design parameters of 3PSS-PU parallel mechanism

组数	机构设计参数
组数	R_m/mm	l_i/mm	φ₁/rad	ϕ₁/rad
1	266.608 0	237.058 5	0.676 7	0.687 6
2	269.573 9	237.284 5	0.634 9	0.733 3
3	270.356 9	236.858 3	0.634 9	0.733 3
4	267.452 5	237.519 3	0.676 7	0.687 6
5	269.551 9	237.284 3	0.634 9	0.733 3
6	269.551 9	237.284 3	0.676 7	0.687 6
7	267.452 5	237.519 3	0.676 7	0.687 6
8	267.199 7	237.557 2	0.634 9	0.733 3
9	266.526 2	237.056 6	0.634 9	0.733 3
10	269.573 4	237.284 4	0.634 9	0.733 3
11	270.347 2	236.971 9	0.676 7	0.687 6
12	267.452 5	237.519 3	0.634 9	0.733 3
13	269.551 7	237.284 3	0.634 9	0.733 3
14	269.329 7	237.303 0	0.676 7	0.687 6
15	270.355 1	236.848 2	0.634 9	0.733 3
16	269.562 5	237.280 2	0.634 9	0.733 3
17	269.414 6	237.272 3	0.676 7	0.687 6
18	267.473 7	237.515 3	0.676 7	0.687 6
19	270.339 5	236.969 1	0.634 9	0.733 3
20	267.452 5	237.519 3	0.634 9	0.733 3

下载: 导出CSV

表 3 3PSS-PU并联机构优化前后结构参数对比

Table 3. Comparison of initial and optimized structure parameters for 3PSS-PU parallel mechanism

设计参数	初始值	优化值
R_m/mm	250	267
l_i/mm	220	237
φ₁/rad	π/3	0.63
ϕ₁/rad	π/3	0.73

下载: 导出CSV

表 4 3PSS-PU并联机构优化前后刚度参数对比

Table 4. Comparison of initial and optimized stiffness parameters for 3PSS-PU parallel mechanism

刚度参数	初始值	优化值	倍数
k₁₁	1 272.95	4 023.15	3.160
k₂₂	6.244 17×10⁷	1.102 13×10⁸	1.765
k₃₃	9.851 90×10⁵	9.015 62×10⁶	9.151
E	6.342 81×10⁷	1.192 33×10⁸	1.880
S	929 775	1 069 132	1.150

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