新型六自由度正交并联机器人设计理论与应用技术研究
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摘要
提出四种新颖的具有正交位姿的六自由度三维平台并联机器人，它们是2-2-2-SPS三维平台并联机器人、3-2-1-SPS三维平台并联机器人、2-2-2-PSS三维平台并联机器人和3-2-1-PSS三维平台并联机器人。这四种三维平台并联机器人处于正交位姿时，都具有受力变形无耦合的特点，对于2-2-2-SPS三维平台和2-2-2-PSS三维平台并联机器人，同时具有运动学与力学各向同性的特点，这些特点使它们特别适合于作为六自由度微操作手和机器人六维力传感器结构。
基于2-2-2-PSS三维平台并联机器人和3-2-1-PSS三维平台并联机器人机构，提出两种新颖的六自由度三维平台并联微操作手，推导出显式的位置正反解方程，分析微位移传递性、运动传递性能、静力传递性能及其与结构几何参数关系，这对微操作手的结构设计和驱动器的选择非常有意义。这两种微操作手用柔性铰链替代球铰，用柔性框架替代直线移动副，本体为整体式结构，具有结构紧凑灵巧、分辨率高、微位移解耦、算法和控制简单等优点。
针对以Stewart平台为原型的六自由度并联机床各向同性和工艺性差等问题，提出一种基于2-2-2-SPS三维平台并联机器人机构的新型六自由度三维平台并联机床。分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。
提出该并联机床的全域运动／力学传递各向同性性能评价指标、全域运动学传递能力评价指标、全域承载能力评价指标和全域柔度评价指标，在建立的几何空间模型中研究机床结构参数与各全域性能指标的关系并给出性能图谱。应用模糊信息处理技术，研究基于性能图谱的机床结构参数的模糊决策方法，这种决策方法对机床结构参数可能选取的值进行了科学的分析与定量的比较，决策出的机床结构参数更合理，为实现并联机床全局最优的结构参数的计算机辅助优化设计提供了一条新途径。
提出并分析三种新颖的并联结构六维机器人手指／腕力传感器，它们是基于2-2-2-SPS三维平台并联机器人机构的各向同性结构六维机器人腕力传感器、基于3-2-1-SPS三维平台并联机器人机构的六维机器人腕力传感器和基于等平台Stewart机构的六维机器人手指/腕力传感器。研究基于等平台Stewart机构的六维机器人手指／腕力传感器的参数设计方法，研制了多种并联结构六维机器人手指／腕力传感器样机和可实现三维力和三维力矩加载的六维力传感器的标定装置，对基于等平台Stewart机构的六维机器人手指力传感器样机进行了标定实验与分析。
本论文的研究工作为具有自主知识产权的并联机器人技术的产业化奠定了基础。
The unique design and analysis for four novel types of 6-DOF 3-dimensional platform parallel robot (3-D PPR) are presented. They are 2-2-2-SPS 3-D PPR, 3-2-1-SPS 3-D PPR, 2-2-2-PSS 3-D PPR and 3-2-1-PSS 3-D PPR. Each 3-D PPR has an orthogonal configuration. At the orthogonal configuration, all of them are characterized by uncoupling deflection. Furthermore, the 2-2-2-SPS 3-D PPR and the 2-2-2-PSS 3-D PPR are characterized by mechanics and kinematics isotropy. These properties make them particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force robot's transducers.
Two novel 6-DOF parallel micromanipulators (6-DOF PMs) based on the 2-2-2-PSS 3-D PPR and the 3-2-1-PSS 3-D PPR are presented, respectively. Their direct and inverse displacement equations are derived explicitly and their properties of the micro-displacements transmission, the motion transmission and the static force transmission and the relationships between the properties and the link lengths are analyzed, which is significant for the architecture design and the selection of the actuators of the micromanipulators. In the micromanipulators, flexure hinges and flexible frames are used to replace real spherical joints and prismatic joints, respectively. The micromanipulators are manufactured from one single solid. The resulting monolithic structure produces the micromanipulators with high resolution, decoupling micro-displacements, simple algorithm and control.
To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively. By using me submatrices of the flexibility matrix, the force-translation flexibility index, the force-rotation flexibility index, the moment-rotation flexibility index and the moment-translation flexibility index at any configuration of the parallel kinematic machine are proposed, respectively. Each submatrix consists of elements having same dimension. The distributions of the indices in constant-orientation workspace are presented.
The glob kinematics/mechanics transmission isotropic indices, glob kinematics transmission indices, glob load-bearing capacity indices and glob flexibility indices of the parallel kinematic machine are proposed. The relationships between the glob indices and the link lengths of the parallel kinematic machine are analyzed within the geometric model of the solution space defined by us. The index atlases are presented. By using fuzzy information processing technology, the fuzzy decision method based on the atlases for the
link lengths setting is researched. In this method, all the possible link lengths selected are analyzed scientifically and compared quantitatively, which makes the decision of the link lengths even more rational. The method provides a new way for the computer-aide glob optimal design of parallel kinematic machines.
The design and analysis for three novel types of 6-axis robot's finger/wrist force transducer (6-A RF/WFT) with parallel architecture are presented. They are the isotropic 6-A RWFT based on the 2-2-2-SPS 3-D PPR's orthogonal configuration, the 6-axis robot's wrist force transducer (6-A RWFT) based on the 3-2-1-SPS 3-D PPR's orthogonal configuration and the 6-A RF/WFT based on the mechanism of the Stewart with equal platforms. The research on design theory of the force transducer based on the mechanism of the Stewart with equal platforms is presented. Several 6-A RFAVFT prototype
基于2-2-2-PSS三维平台并联机器人和3-2-1-PSS三维平台并联机器人机构，提出两种新颖的六自由度三维平台并联微操作手，推导出显式的位置正反解方程，分析微位移传递性、运动传递性能、静力传递性能及其与结构几何参数关系，这对微操作手的结构设计和驱动器的选择非常有意义。这两种微操作手用柔性铰链替代球铰，用柔性框架替代直线移动副，本体为整体式结构，具有结构紧凑灵巧、分辨率高、微位移解耦、算法和控制简单等优点。
针对以Stewart平台为原型的六自由度并联机床各向同性和工艺性差等问题，提出一种基于2-2-2-SPS三维平台并联机器人机构的新型六自由度三维平台并联机床。分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。
提出该并联机床的全域运动／力学传递各向同性性能评价指标、全域运动学传递能力评价指标、全域承载能力评价指标和全域柔度评价指标，在建立的几何空间模型中研究机床结构参数与各全域性能指标的关系并给出性能图谱。应用模糊信息处理技术，研究基于性能图谱的机床结构参数的模糊决策方法，这种决策方法对机床结构参数可能选取的值进行了科学的分析与定量的比较，决策出的机床结构参数更合理，为实现并联机床全局最优的结构参数的计算机辅助优化设计提供了一条新途径。
提出并分析三种新颖的并联结构六维机器人手指／腕力传感器，它们是基于2-2-2-SPS三维平台并联机器人机构的各向同性结构六维机器人腕力传感器、基于3-2-1-SPS三维平台并联机器人机构的六维机器人腕力传感器和基于等平台Stewart机构的六维机器人手指/腕力传感器。研究基于等平台Stewart机构的六维机器人手指／腕力传感器的参数设计方法，研制了多种并联结构六维机器人手指／腕力传感器样机和可实现三维力和三维力矩加载的六维力传感器的标定装置，对基于等平台Stewart机构的六维机器人手指力传感器样机进行了标定实验与分析。
本论文的研究工作为具有自主知识产权的并联机器人技术的产业化奠定了基础。
The unique design and analysis for four novel types of 6-DOF 3-dimensional platform parallel robot (3-D PPR) are presented. They are 2-2-2-SPS 3-D PPR, 3-2-1-SPS 3-D PPR, 2-2-2-PSS 3-D PPR and 3-2-1-PSS 3-D PPR. Each 3-D PPR has an orthogonal configuration. At the orthogonal configuration, all of them are characterized by uncoupling deflection. Furthermore, the 2-2-2-SPS 3-D PPR and the 2-2-2-PSS 3-D PPR are characterized by mechanics and kinematics isotropy. These properties make them particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force robot's transducers.
Two novel 6-DOF parallel micromanipulators (6-DOF PMs) based on the 2-2-2-PSS 3-D PPR and the 3-2-1-PSS 3-D PPR are presented, respectively. Their direct and inverse displacement equations are derived explicitly and their properties of the micro-displacements transmission, the motion transmission and the static force transmission and the relationships between the properties and the link lengths are analyzed, which is significant for the architecture design and the selection of the actuators of the micromanipulators. In the micromanipulators, flexure hinges and flexible frames are used to replace real spherical joints and prismatic joints, respectively. The micromanipulators are manufactured from one single solid. The resulting monolithic structure produces the micromanipulators with high resolution, decoupling micro-displacements, simple algorithm and control.
To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively. By using me submatrices of the flexibility matrix, the force-translation flexibility index, the force-rotation flexibility index, the moment-rotation flexibility index and the moment-translation flexibility index at any configuration of the parallel kinematic machine are proposed, respectively. Each submatrix consists of elements having same dimension. The distributions of the indices in constant-orientation workspace are presented.
The glob kinematics/mechanics transmission isotropic indices, glob kinematics transmission indices, glob load-bearing capacity indices and glob flexibility indices of the parallel kinematic machine are proposed. The relationships between the glob indices and the link lengths of the parallel kinematic machine are analyzed within the geometric model of the solution space defined by us. The index atlases are presented. By using fuzzy information processing technology, the fuzzy decision method based on the atlases for the
link lengths setting is researched. In this method, all the possible link lengths selected are analyzed scientifically and compared quantitatively, which makes the decision of the link lengths even more rational. The method provides a new way for the computer-aide glob optimal design of parallel kinematic machines.
The design and analysis for three novel types of 6-axis robot's finger/wrist force transducer (6-A RF/WFT) with parallel architecture are presented. They are the isotropic 6-A RWFT based on the 2-2-2-SPS 3-D PPR's orthogonal configuration, the 6-axis robot's wrist force transducer (6-A RWFT) based on the 3-2-1-SPS 3-D PPR's orthogonal configuration and the 6-A RF/WFT based on the mechanism of the Stewart with equal platforms. The research on design theory of the force transducer based on the mechanism of the Stewart with equal platforms is presented. Several 6-A RFAVFT prototype
引文
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66 C. M. Gosselin, S. G. Pierre. On the development of the agile eye: Mechanical design, control issues and experimentation. IEEE Robotics and Automation Society, Magazine. 1996, 3(4):29～37
67 曾宪箐．球面并联机构的运动学设计理论与方法．天津大学博士学位论文．2000
68 Y. X. Su, B. Y. Duan. The mechanical design and kinematics accuracy analysis of a fine tuning stable platform for the large spherical radio telescope. Mechatronics. 2000, 10:819～834
69 黄亚楼，卢桂章．微机器人和精微操作的研究与发展．机器人．1992，14(4)：52～59
70 杨宜民，程良伦．微细作业系统的现状、构成及其应用．机器人．1998，20(1)：32～35
71 G. W. Ellis. Piezoelectric Micromanipulators. Science Instruments and Techniques. 1962, 138:84～91
72 R. Stoughton. Kinematic Optimization of a chopsticks-type micromanipulator. ASME Japan/USA Symp. on Flexible Automation. 1992, 1: 151～157
73 J. C. Hudgens, D. A. Tesar. Fully-parallel six degree-of-freedom micromanipulator: kinematic analysis and dynamic model. Proc. 20th Biennal ASME, Mechanisms Conf. Trends and Development in Mechanisms Machines and Robotics. 1988, 15(3): 29～37
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85 王国泰，易秀芳，王理丽．六维力传感器发展中的几个问题．机器人 1997，19(6)：474～478
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95 黄心汉，胡建元，王建．一种非径向三梁结构六维力传感器弹性体及其设计．机器人．1992，14(5)：1～6
96 徐科军，李成．多维腕力传感器静态解耦的研究．合肥工业大学学报．1999，22(4)：1～7
97 周廷佑，林益耀．发展中的六条腿机床．机械制造．1998，10：4～8
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65 C. M. Gosselin, J. F. Hamel. The agile eye: a high-performance 3-DOF camera-orienting device. Proceedings of the IEEE International Conference On Robotics and Automation. 1994, 3:781～786
66 C. M. Gosselin, S. G. Pierre. On the development of the agile eye: Mechanical design, control issues and experimentation. IEEE Robotics and Automation Society, Magazine. 1996, 3(4):29～37
67 曾宪箐．球面并联机构的运动学设计理论与方法．天津大学博士学位论文．2000
68 Y. X. Su, B. Y. Duan. The mechanical design and kinematics accuracy analysis of a fine tuning stable platform for the large spherical radio telescope. Mechatronics. 2000, 10:819～834
69 黄亚楼，卢桂章．微机器人和精微操作的研究与发展．机器人．1992，14(4)：52～59
70 杨宜民，程良伦．微细作业系统的现状、构成及其应用．机器人．1998，20(1)：32～35
71 G. W. Ellis. Piezoelectric Micromanipulators. Science Instruments and Techniques. 1962, 138:84～91
72 R. Stoughton. Kinematic Optimization of a chopsticks-type micromanipulator. ASME Japan/USA Symp. on Flexible Automation. 1992, 1: 151～157
73 J. C. Hudgens, D. A. Tesar. Fully-parallel six degree-of-freedom micromanipulator: kinematic analysis and dynamic model. Proc. 20th Biennal ASME, Mechanisms Conf. Trends and Development in Mechanisms Machines and Robotics. 1988, 15(3): 29～37
74 K. W. Grace, J. E. Colgate, M. R. Glucksberg. A six degree of freedom micromanipulator for ophthainic surgery. IEEE International Conference on Robotics and Automation. 1993, 2: 630～635
75 K. M. Lee, S. A. Arjunan. Three-DOF micro-motion-in-parallel actuated-manipulator. IEEE Int. Conf. On Robotics and Automation. 1989,1698～1703
76 孙立宁，安辉，张涛等．微动机器人运动学分析的基础研究．仪器仪表学报．1998，19(5)：465～470
77 毕树生，宗光华．微操作机器人系统的研究开发．中国机械工程．1999，10(9)：1024～1027
78 毕树生，王守杰，宗光华．串并联微动机构的运动学分析．机器人．1997，19(4)：259～264
79 徐卫平，张玉茹．六自由度微动机构的运动分析．机器人．1995，17(5)：298～302
80 陈恳，李嘉，董怡等．并联操作手的运动学分析．中国机械工程．1998，9(7)：57～59
81 张定会，邵惠鹤．柔性框架式爬行驱动器．自动化仪表．2000，21(2)：16～18
82 蔡鹤皋，孙立宁，安辉．压电／电致伸缩微位移器与应用．高技术通讯．1994，6：37～40
83 刘建琴，张策．微进给机构综述．机械传动．1999，1：47～51
84 王祁，于航．传感器技术的新发展．传感器技术．1998，17(1)：56～58
85 王国泰，易秀芳，王理丽．六维力传感器发展中的几个问题．机器人 1997，19(6)：474～478
86 D. R. Kerr. Analysis, properties and design of a Stewart-platform transducer. Automation and Design. 1989, 111: 25～28
87 C. C. Nguyen. Analysis and experimentation of a Stewart platform-based force/torque sensor. International Journal of Robotics and Automation. 1993, 7(3):133～140
88 C. Ferraresi. Static and dynamic behavior of a high stiffness Stewart platform-based force/torque sensor. Journal of Robotic Systems. 1995, 12(12): 883～893
89 M. Uchiyama. Evaluation of robot sensor structure using singular value decomposition. Journal of the Robotics Society of Japan. 1987, 5(1): 4～10
90 熊有伦．机器人力传感器的各项同性．自动化学报．1996，22(1)：10～17
91 E. Bayo. Six-axis force sensor evaluation and a new type of optimal frame truss design robotic application. Journal of the Robotic Systems. 1989, 6(2): 191～208
92 D. Dirk, R. Dominiek, V. B. Hendrik. Design of a ring-shaped 3-axis micro force/torque sensor. Sensors and Actuators. 1995, A(46-47):225～232
93 M. M. Svinin, M. Uchiyama. Optimal geometric structures of force/torque sensors. The International Journal of Robotics Research. 1995, 14(6):560～573
94 G. S. Kim, D. L. Kang, S. H. Rhee. Design and fabrication of a 6-component force/moment sensor. Sensors and Actuators. 1999, 77:209～220
95 黄心汉，胡建元，王建．一种非径向三梁结构六维力传感器弹性体及其设计．机器人．1992，14(5)：1～6
96 徐科军，李成．多维腕力传感器静态解耦的研究．合肥工业大学学报．1999，22(4)：1～7
97 周廷佑，林益耀．发展中的六条腿机床．机械制造．1998，10：4～8
98 J. L. Zhang, J. M. zhang. Mathematics model study of parallel connected machine tool based Stewart mechanism. 5th International Conference on Mechatronics and Vision in practice. China, 1998, 57～60
99 汪劲松，段广洪，杨向东．VAMTIY虚拟轴机床．制造技术与机床．1998，2：42～43
100 黄田，王洋，3-HSS并联机床总体布局及运动学设计理论浅析．第一届并联机器人及机床设计理论与关键技术研讨会论文．清华大学，1999，5
101 赵明扬，余晓流，王启义等．一种并联机床运动平台位姿测量方法．中国机械工程．1999，10(10)：1112～1113
102 王知行，李建生．BJ—1型并联机床．制造技术与机床．1999，8：55
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