北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (3): 465-473.doi: 10.13700/j.bh.1001-5965.2019.0217

• 论文 • 上一篇    下一篇

新型大转角2T2R并联机构的设计与分析

房海蓉, 李壮壮   

  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
  • 收稿日期:2019-05-10 发布日期:2020-03-28
  • 通讯作者: 房海蓉 E-mail:hrfang@bjtu.edu.cn
  • 作者简介: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;李壮壮,女,硕士研究生。主要研究方向:并联机器人机构学。
  • 基金资助:
    中央高校基本科研业务费专项资金(2018JBZ007)

Design and analysis of a new large rotation angle 2T2R parallel mechanism

FANG Hairong, LI Zhuangzhuang   

  1. Robotics Research Center, School of Mechanical and Electronic Engineering, Beijing Jiaotong University, Beijing 100044, China
  • Received:2019-05-10 Published:2020-03-28
  • Supported by:
    the Fundamental Research Funds for the Central Universities (2018JBZ007)

摘要: 针对大尺寸细长结构部件的加工需求,提出了一种新型五自由度混联机器人,并对机器人中新型大转角2T2R并联机构模块进行了研究分析。首先,应用螺旋理论计算出了2-UPS&(2-RPR)R并联机构的自由度,并应用修正的G-K公式进行了验证;其次,应用封闭矢量方程对机构进行了运动学分析,建立了运动学正反解模型,并计算出了雅可比矩阵;然后,利用机构的约束条件,绘制了机构的工作空间;然后,应用线速度各向同性指标和角速度各向同性指标对机构的灵巧性进行了分析;最后,通过给定轨迹进行运动学仿真。通过分析,验证了该机构的可行性和实用价值,为新型五自由度混联机器人的应用奠定了基础。

关键词: 混联机构, 大转角, 运动学分析, 工作空间, 仿真

Abstract: In order to meet the requirements of large and slender structural components, a new type of 5-DOF hybrid robot is proposed, and the new large rotation angle 2T2R parallel mechanism module in the robot is analyzed and studied. Firstly, the degrees of freedom of 2-UPS&(2-RPR)R parallel mechanism are calculated by using the screw theory, and the modified G-K formula is used for verification. Secondly, the closed vector equation is used to analyze the kinematics of the mechanism,the forword kinematics model and inverse kinematics model are established and the Jacobian matrix is calculated. Then, the workspace of the mechanism is plotted with the constraint conditions of the mechanism. Then, the dexterity of the mechanism is analyzed with linear velocity isotropic index and angular velocity isotropic index. Finally, the kinematic simulation is carried out by the given trajectory. Through analysis, the feasibility and practical value of the mechanism are verified, which lays a foundation for the application of the new 5-DOF hybrid robot.

Key words: hybrid mechanism, large rotation angle, kinematics analysis, workspace, simulation

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