| 引用本文: | 曹毅,秦友蕾,陈海,葛姝翌,周辉.完全各向同性解耦2T2R型并联机器人构型综合[J].哈尔滨工业大学学报,2016,48(7):94.DOI:10.11918/j.issn.0367-6234.2016.07.015 |
| CAO Yi,QIN Youlei,CHEN Hai,GE Shuyi,ZHOU Hui.Structural synthesis of fully isotropic and decoupled 2T2R parallel robot[J].Journal of Harbin Institute of Technology,2016,48(7):94.DOI:10.11918/j.issn.0367-6234.2016.07.015 |
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| 完全各向同性解耦2T2R型并联机器人构型综合 |
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曹毅1,2,3,4, 秦友蕾1,4, 陈海1,4, 葛姝翌1,4, 周辉1,4
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(1.江南大学 机械工程学院, 江苏 无锡 214122; 2. 机械系统与振动国家重点实验室(上海交通大学), 上海 2002404; 3. 机器人技术与系统国家重点实验室(哈尔滨工业大学), 哈尔滨 150080; 4.江苏省食品先进制造装备技术重点实验室(江南大学), 江苏 无锡 214122)
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| 摘要: |
| 为得到完全各向同性解耦并联机器人构型，基于 GF 集理论提出一种简单而有效的构型综合方法. 阐述 GF 集的基本概念、运算法则以及转动特征存在条件；给出机构输入运动副选择原则和分支设计准则，确保了并联机构运动各向同性及解耦性；根据该构型综合原理，完成 2T2R 四自由度完全各向同性解耦并联机构型综合，得到大量新构型；针对所综合的一种新型并联解耦机构，基于螺旋理论求得该机构运动输出，通过求解到的雅克比矩阵，验证该机构的完全各向同性，证明了该构型方法的有效性.
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| 关键词: 并联机构 型综合 GF集 完全各向同性 解耦 |
| DOI：10.11918/j.issn.0367-6234.2016.07.015 |
| 分类号:TH112 |
| 文献标识码:A |
| 基金项目:国家自然科学基金 (50905075)；机器人技术与系统国家重点实验室开放课题 (SKLRS-2012-MS-07)；机械系统与振动国家重点实验室开放课题 (MSV201407)；江苏省食品先进制造装备技术重点实验室开放课题 (FM-201402) |
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| Structural synthesis of fully isotropic and decoupled 2T2R parallel robot |
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CAO Yi 1,2,3,4 , QIN Youlei1,4 , CHEN Hai1,4, GE Shuyi 1,4, ZHOU Hui 1,4
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(1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, Jiangsu, China; 2. State Key Laboratory of Mechanical System and Vibration(Shanghai Jiao Tong University), Shanghai 200240, China; 3. State Key Laboratory of Robotics and System(Harbin Institute of Technology), Harbin 150080, China; 4. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology(Jiangnan University), Wuxi 214122, Jiangsu, China)
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| Abstract: |
| To obtain fully isotropic and decoupled structures of parallel robot, a very simple but very effective structural design is proposed based on GF set. The basic concept of GF set, algorithms and the type synthesis principle, requirements for rotation based on GF set are firstly introduced. Secondly the selection criterion of the input pair and type synthesis principle of decoupled branches are given, therefore it ensures that the various branches' input are isotropic and decoupled. According to the type synthesis theory, structural synthesis of 2T2R four degrees of freedom decoupled parallel mechanism is finished. Simultaneously, a lot of new mechanisms are attained. Finally, the screw theory is applied to analyze kinematic characteristic of a parallel mechanism synthesized above. The expression of the Jacobian matrix is deduced which validated the decoupling feature of the mechanism. In addition it demonstrates the effectiveness of the novel method of structural synthesis for parallel mechanisms.
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| Key words: parallel mechanism structural synthesis GF Set fully isotropic decoupled |
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