两移动三转动完全解耦混联机器人机构型综合

秦友蕾 1; 曹毅 1; 2; 陈海 1; 3; 曹浩峰 1; 3

doi:10.7652/xjtuxb201601015

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两移动三转动完全解耦混联机器人机构型综合

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- 两移动三转动完全解耦混联机器人机构型综合
- Structural Synthesis of Fully-Decoupled Two-Translational and Three-Rotational Hybrid Robotic Manipulators
- 西安交通大学学报 2016年50卷第1期页码：92-99
- 作者机构：
  
  1. 江南大学机械工程学院,江苏,无锡,214122
  2. 江南大学江苏省食品先进制造装备技术重点实验室,江苏,无锡,214122
- 作者简介：
- 基金信息：
  
  : 2015-06-26。作者简介: 秦友蕾(1991—),男,硕士生;曹毅(通信作者),男,副教授。基金项目: 国家自然科学基金资助项目(50905075);机械系统与振动国家重点实验室开放课题资助项目(MSV201407);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)
- DOI：10.7652/xjtuxb201601015
  中图分类号： TH112
- 网络首发：2016-01-10，
  
  纸质出版：2016
- 稿件说明：
移动端阅览
秦友蕾 1, 曹毅 1, 2, 等. 两移动三转动完全解耦混联机器人机构型综合[J]. 西安交通大学学报, 2016,50(1):92-99.

Structural Synthesis of Fully-Decoupled Two-Translational and Three-Rotational Hybrid Robotic Manipulators[J]. 2016, 50(1): 92-99.
秦友蕾 1, 曹毅 1, 2, 等. 两移动三转动完全解耦混联机器人机构型综合[J]. 西安交通大学学报, 2016,50(1):92-99. DOI： 10.7652/xjtuxb201601015.

Structural Synthesis of Fully-Decoupled Two-Translational and Three-Rotational Hybrid Robotic Manipulators[J]. 2016, 50(1): 92-99. DOI： 10.7652/xjtuxb201601015.

摘要

为综合得到两移动三转动(2T3R)完全解耦混联机器人机构

基于G

集理论提出了一种简单而有效的解耦混联机构型综合方法

并且给出了完全解耦混联机构型综合的具体设计步骤。首先分析了G

集的运算法则; 接着通过G

集元素组合公式和混联机构数综合方程构造了混联拓扑结构

并结合机构输入运动副选择原则和解耦分支设计准则

确保了混联机构运动的解耦性; 然后根据该构型综合方法

完成了完全解耦2T3R五自由度混联机构的型综合过程。运用该型综合方法

得到了构成2T3R解耦混联机构各模块单元的组合形式

再以其中一种组合形式为例

综合出了2T3R五自由度完全解耦混联机构

并得到了大量新构型。针对该完全解耦混联机构

求解了机构位置的正解解析表达式

推导出了机构的雅可比矩阵

进而依据此雅可比矩阵表达式

验证了混联机构的完全解耦特性

进一步证明了该构型方法的正确性。基于G

集的完全解耦混联机构型综合方法可用于具有确定运动特征的解耦串联、并联以及混联机构的构型设计。

Abstract

To obtain the structure of a fully-decoupled two-translational and three-rotational(2T3R)hybrid mechanisms

a simple and effective synthesis of decoupled hybrid mechanism(HM)is proposed and described in detail based on G

set. The basic algorithms for G

set are firstly introduced. The topological structure of the hybrid mechanism is developed by the elements of G

set combination formula and the synthesis equation of the number of hybrid mechanism. Following the selection criterion of the input pair and the design principle of decoupled branches

the movement decoupling of the hybrid mechani

sm is ensured. According to the type synthesis theory

the combination of each module unit constituting HM is obtained. And taking one kind of the combination form as an example

the structural synthesis of the 2T3R 5-DOF decoupled hybrid mechanism is finished. Moreover

the expression of Jacobian matrix is deduced

and the decoupling feature of the proposed hybrid mechanisms is validated

which demonstrates the correctness of the novel method of structural synthesis for HMs. The synthesis method proposed also can be used to obtain the structural design of serial

parallel and hybrid mechanisms with decoupled movement features.

关键词

Keywords

references

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