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新型大转角2T2R并联机构的设计与分析

房海蓉 李壮壮

房海蓉, 李壮壮. 新型大转角2T2R并联机构的设计与分析[J]. 北京航空航天大学学报, 2020, 46(3): 465-473. doi: 10.13700/j.bh.1001-5965.2019.0217
引用本文: 房海蓉, 李壮壮. 新型大转角2T2R并联机构的设计与分析[J]. 北京航空航天大学学报, 2020, 46(3): 465-473. doi: 10.13700/j.bh.1001-5965.2019.0217
FANG Hairong, LI Zhuangzhuang. Design and analysis of a new large rotation angle 2T2R parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 465-473. doi: 10.13700/j.bh.1001-5965.2019.0217(in Chinese)
Citation: FANG Hairong, LI Zhuangzhuang. Design and analysis of a new large rotation angle 2T2R parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(3): 465-473. doi: 10.13700/j.bh.1001-5965.2019.0217(in Chinese)

新型大转角2T2R并联机构的设计与分析

doi: 10.13700/j.bh.1001-5965.2019.0217
基金项目: 

中央高校基本科研业务费专项资金 2018JBZ007

详细信息
    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E-mail: hrfang@bjtu.edu.cn

    李壮壮, 女, 硕士研究生。主要研究方向:并联机器人机构学

    通讯作者:

    房海蓉, E-mail: hrfang@bjtu.edu.cn

  • 中图分类号: TH112

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

Funds: 

the Fundamental Research Funds for the Central Universities 2018JBZ007

More Information
  • 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。

     

  • 图 1  新型大转角混联机器人系统示意图

    Figure 1.  Schematic of a new type of hybrid robot system with large rotation angle

    图 2  2-UPS & (2-RPR)R并联机构动平台示意图

    Figure 2.  Schematic of moving platform of 2-UPS & (2-RPR)R parallel mechanism

    图 3  2-UPS & (2-RPR)R并联机构结构简图

    Figure 3.  Structure diagram of 2-UPS & (2-RPR)R parallel mechanism

    图 4  2-RPR并联环节结构简图

    Figure 4.  Structure diagram of 2-RPR parallel link

    图 5  并联机构的位置工作空间

    Figure 5.  Position workspace of parallel mechanism

    图 6  工作空间内机构转角范围

    Figure 6.  Range of mechanism rotation angle in workspace

    图 7  α=0°、β=0°时 κV 分布情况

    Figure 7.  Distribution of κV in case of α=0°, β=0°

    图 8  α=0°、β=0°时 κω 分布情况

    Figure 8.  Distribution of κω in case of α =0°, β=0°

    图 9  驱动移动副位移量ADAMS仿真结果

    Figure 9.  ADAMS simulation results of drive moving joints' displacement

    图 10  驱动移动副位移量MATLAB计算结果

    Figure 10.  MATLAB calculation results of drive moving joints' displacement

    图 11  MATLAB计算结果与ADAMS仿真结果对比

    Figure 11.  Comparison of MATLAB calculation results and ADAMS simulation results

    表  1  2-UPS & (2-RPR)R并联机构尺度参数及约束条件

    Table  1.   Dimension parameters and constraint condition of 2-UPS & (2-RPR)R parallel mechanism

    参数 数值
    r/mm 200
    R/mm 350
    R1/mm 300
    l0/mm 300
    dimin/mm 0
    dimax/mm 900
    θimin/(°) 45
    θimax/(°) 135
    φimin/(°) 45
    φimax/(°) 135
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出版历程
  • 收稿日期:  2019-05-10
  • 录用日期:  2019-08-31
  • 刊出日期:  2020-03-20

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