北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (6): 1145-1152.doi: 10.13700/j.bh.1001-5965.2018.0575

• 论文 • 上一篇    下一篇

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   

  1. 同济大学 机械与能源工程学院, 上海 201804
  • 收稿日期:2018-09-29 出版日期:2019-06-20 发布日期:2019-06-18
  • 通讯作者: 张氢 E-mail:zhqing_tj@126.com
  • 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。
  • 基金资助:
    国家科技支撑计划(2015BAF06B05);上海市科委:科技创新行动计划(17DZ1204602)

2UPR-RRU parallel mechanism and its kinematic analysis

CHEN Miao, ZHANG Qing, GE Yunfei, QIN Xianrong, SUN Yuantao   

  1. School of Mechanical Engineering, Tongji University, Shanghai 201804, China
  • Received:2018-09-29 Online:2019-06-20 Published:2019-06-18

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。

关键词: 搅拌摩擦焊, 2UPR-RRU并联机构, 螺旋理论, 全周自由度, 位姿正解, 奇异性分析

Abstract: To actualize the requirement of friction stir welding for light metal materials in aerospace manufacturing, this paper proposed a novel 2UPR-RRU parallel mechanism with IT2R 3-DOF as the manipulator of the welding equipment. Based on screw theory, the mechanism of one translational and two rotational full-cycle DOFs was found on general position and special position. Kinematic model of 2UPR-RRU parallel mechanism was constructed. Then the relationship between platform's positions and driving joints was analyzed by closed loop vector method and forward/inverse kinematics solutions were deduced. The optimal objective function was established in the process of forward kinematics, particle swarm optimization (PSO) algorithm was used to analyze the relationship between platform outputs and driving joints inputs, and finally the exact solution was found. Based on the input/output velocity Jacobi matrix, the motion singularity of 2UPR-RRU was analyzed, and especially the conditions to avoid driving singularity were discussed in detail. The research shows that 2UPR-RRU parallel mechanism, which is an important full-cycle DOF mechanism, possesses excellent kinetic characteristics, driving characteristics and high potential application.

Key words: friction stir welding, 2UPR-RRU parallel mechanism, screw theory, full-cycle DOF, forward kinematics, singularity analysis

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