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2UPR-RRU并联机构及其运动学分析

陈淼 张氢 葛韵斐 秦仙蓉 孙远韬

陈淼, 张氢, 葛韵斐, 等 . 2UPR-RRU并联机构及其运动学分析[J]. 北京航空航天大学学报, 2019, 45(6): 1145-1152. doi: 10.13700/j.bh.1001-5965.2018.0575
引用本文: 陈淼, 张氢, 葛韵斐, 等 . 2UPR-RRU并联机构及其运动学分析[J]. 北京航空航天大学学报, 2019, 45(6): 1145-1152. doi: 10.13700/j.bh.1001-5965.2018.0575
CHEN Miao, ZHANG Qing, GE Yunfei, et al. 2UPR-RRU parallel mechanism and its kinematic analysis[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(6): 1145-1152. doi: 10.13700/j.bh.1001-5965.2018.0575(in Chinese)
Citation: CHEN Miao, ZHANG Qing, GE Yunfei, et al. 2UPR-RRU parallel mechanism and its kinematic analysis[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(6): 1145-1152. doi: 10.13700/j.bh.1001-5965.2018.0575(in Chinese)

2UPR-RRU并联机构及其运动学分析

doi: 10.13700/j.bh.1001-5965.2018.0575
基金项目: 

国家科技支撑计划 2015BAF06B05

上海市科委:科技创新行动计划 17DZ1204602

详细信息
    作者简介:

    陈淼 男, 博士研究生。主要研究方向:机构学及并联机器人动力学

    张氢  男, 博士, 教授, 博士生导师。主要研究方向:工程结构力学及港口机械智能优化设计等

    通讯作者:

    张氢, E-mail: zhqing_tj@126.com

  • 中图分类号: TH112

2UPR-RRU parallel mechanism and its kinematic analysis

Funds: 

National Key Technology Researchand Development Program of China 2015BAF06B05

Shanghai Committee of Science and Technology: Science and Technology Innovation Plan 17DZ1204602

More Information
  • 摘要:

    针对航天制造中轻金属材料搅拌摩擦焊的焊接需求,提出一种以2UPR-RRU构型的1T2R三自由度并联机构为主要执行机构的焊接装备。基于螺旋理论分析了该构型在一般位型和特殊位型下的约束螺旋系和自由度性质,指出该构型是具有两转一移的全周自由度机构。建立2UPR-RRU并联机构运动学模型,利用闭环矢量法建立动平台位姿与各驱动支链的关系,推导其运动学的正反解;在正解过程中构造优化目标函数,采用粒子群优化(PSO)算法分析了位姿输出与驱动关节输入的关系,得到了驱动输入的精确解。基于输入/输出速度雅可比矩阵分析了机构的奇异性问题,指出该构型避免存在驱动奇异的条件,研究表明该机构具有较好的运动学特性和驱动特性,具备良好的应用潜力。

     

  • 图 1  搅拌摩擦焊执行机构

    Figure 1.  Manipulator of friction stir welding equipment

    图 2  2UPR-RRU并联机构示意图

    Figure 2.  Schematic diagram of 2UPR-RRU parallel mechanism

    图 3  各算例PSO算法适应度曲线

    Figure 3.  PSO algorithm fitness curves of different examples

    图 4  2UPR-RRU并联机构理论驱动奇异位型空间分布

    Figure 4.  Theoretical spatial distribution of driven singular positions for 2UPR-RRU parallel mechanism

    图 5  位于z=-100 mm平面之外的驱动 奇异位型空间分布

    Figure 5.  Spatial distribution of driven singular position outside z=-100 mm plane

    表  1  粒子群优化算法参数

    Table  1.   Parameters of PSO algorithm

    参数 数值
    种群规模 40
    学习因子 2
    最大迭代次数 500
    最大搜索速度 0.01
    最小搜索速度 -0.01
    惯性权重初值 0.9
    惯性权重末值 0.4
    POz取值范围/m [-0.3, -0.1]
    α取值范围/rad [-0.314, 0.314]
    β取值范围/rad [-0.314, 0.314]
    下载: 导出CSV

    表  2  位姿正解算例结果

    Table  2.   Results of forward kinematics examples

    算例 输入/mm 输出 迭代次数
    li1 li2 li3 位置/mm 位置绝对误差/mm 姿态/rad 姿态绝对误差/rad
    1 180 200 180 [6.022 0 -146.571] [0 0 -0.003] [-0.072 -0.041 0] [0 0 0] 458
    2 200 220 180 [20.543 0 -170.672] [0 0 -0.001] [-0.068 -0.032 0] [0 0.001 0] 399
    3 280 260 220 [43.613 0 -237.684] [0.001 0 0] [0.062 -0.182 0] [0 0.001 0] 421
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-09-29
  • 录用日期:  2018-11-23
  • 网络出版日期:  2019-06-20

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