含子闭环并联机构的六维控制器奇异性分析及限位设计
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摘要
针对现有的基于并联机构的六维控制器灵巧度不高、动态性能差等问题,提出一种含子闭环三支链6自由度并联机构的六维控制器。首先应用封闭矢量法,建立了运动学反解模型,求出了解析解;在反解的基础上,建立了运动学正解模型,求出了数值解,同时建立了逆解雅可比矩阵;基于逆解雅可比矩阵的分析和机构的速度分析,求解出了的三种奇异位形;最后依据奇异位形提出了机械限位的方案,保证控制器可以实现其功能。
Currently existing six-dimensional controllerbased on parallel mechanism has shortcoming of poor dexterity and worse dynamic performance. Aiming at this kind of research situation,a novel controller with six-dimension based on 6-DOFparallel mechanism with three branched chains and sub closed-chains is designed in this paper. First,the inverse kinematic modelis established analytically; Based on the inverse kinematic model,the forward kinematic modelwith numerical solutionand the Jacobian matrix with inverse modelare solved; Based on the analysis of Jacobian matrix with inverse model and the analysis of velocity,three kinds of singularity loci are obtained; At last,in terms of the singularity loci,the scheme of mechanical position limitation is put forward to ensure the function of the controller.
Currently existing six-dimensional controllerbased on parallel mechanism has shortcoming of poor dexterity and worse dynamic performance. Aiming at this kind of research situation,a novel controller with six-dimension based on 6-DOFparallel mechanism with three branched chains and sub closed-chains is designed in this paper. First,the inverse kinematic modelis established analytically; Based on the inverse kinematic model,the forward kinematic modelwith numerical solutionand the Jacobian matrix with inverse modelare solved; Based on the analysis of Jacobian matrix with inverse model and the analysis of velocity,three kinds of singularity loci are obtained; At last,in terms of the singularity loci,the scheme of mechanical position limitation is put forward to ensure the function of the controller.
引文
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[6]NGUYEG C C.Analysis and implementation of a 6-DOF stewartplatform-based robotic wrist[J].Computers and Electrical Engineering,1991,17(3):191-204.
[7]HUNT K H.Kinematic geometry of mechanisms[M].Oxford Claredon Press,1978.
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[10]杨高炜,张建军,殷玲,等.3-RPUU并联机构的奇异分析[J].机械科学与技术,2018,37(4):510-518.
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[13]贺利乐.含五杆闭链的并联机构构型综合及主要运动性能分析研究[D].西安.西安交通大学,2006.
[14]李启腾,戚开诚,张建军.新型含子闭环并联机构的灵巧性研究[J].机械设计与研究,2017,33:21-24.
[15]黄真,赵永生,赵铁石.高等空间机构学[M],北京:高等教育出版社,2006.
[16]郭志民.平面5R并联机器人轨迹规划和标定的研究[D].河北秦皇岛:燕山大学,2012.
[17]曹毅.6自由度并联机器人奇异位形的研究[D].河北秦皇岛:燕山大学,2005.
[18]TSAI L W,Robot Analysis[M].John Wiley&Sons,1999:223-259.
[19]于红英,唐德威.平面铰链五杆机构的奇异性研究[J].哈尔滨工业大学学报,2007(3):381-385.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
[3]GOSSELIN C,ANGELES J.The optimum kinematic design of spherical three-degree-of-freedom parallel manipulator[J].Journal of Mechanical Design,1989,111(2):202-207.
[4]ANDREAS T,PATRICK H,ULRICH H,et al.The sigma.7haptic interface for mirosurge:a New bimanual surgical console[C]//In International Conference on Intelligent Robots and Systems(IROS).San Francisco,USA,2011:256-264.
[5]肖霄.基于宏动并联机构的多维控制器设计与研究[D].山东淄博:山东理工大学,2012.
[6]NGUYEG C C.Analysis and implementation of a 6-DOF stewartplatform-based robotic wrist[J].Computers and Electrical Engineering,1991,17(3):191-204.
[7]HUNT K H.Kinematic geometry of mechanisms[M].Oxford Claredon Press,1978.
[8]GOSSELIN C,ANGELES J.Singularity analysis of closed-up kinematics chains[J].IEEE Transactions on Robotics and Automation,1990,6(3):377-382.
[9]GOSSELIN C M.Stiffness mapping for parallel manipulators[J].IEEE Transactions on Robotics and Automation,1990,6(3):377-382.
[10]杨高炜,张建军,殷玲,等.3-RPUU并联机构的奇异分析[J].机械科学与技术,2018,37(4):510-518.
[11]高红卫,王丽,史革盟,等.空间3-RPS并联机构工作空间与奇异位形分析[J].机械传动,2017,41(11):65-71.
[12]张建军,李启腾,王晓慧,等.一种三支链6自由度并联机器人机构:中国,205572419U[P].2016-09-14.
[13]贺利乐.含五杆闭链的并联机构构型综合及主要运动性能分析研究[D].西安.西安交通大学,2006.
[14]李启腾,戚开诚,张建军.新型含子闭环并联机构的灵巧性研究[J].机械设计与研究,2017,33:21-24.
[15]黄真,赵永生,赵铁石.高等空间机构学[M],北京:高等教育出版社,2006.
[16]郭志民.平面5R并联机器人轨迹规划和标定的研究[D].河北秦皇岛:燕山大学,2012.
[17]曹毅.6自由度并联机器人奇异位形的研究[D].河北秦皇岛:燕山大学,2005.
[18]TSAI L W,Robot Analysis[M].John Wiley&Sons,1999:223-259.
[19]于红英,唐德威.平面铰链五杆机构的奇异性研究[J].哈尔滨工业大学学报,2007(3):381-385.