可变胞混联机械手臂构型设计与刚度特性分析

王翘楚; 张静; 史创; 寇子明; 郭宏伟; 刘荣强

doi:10.7652/xjtuxb202507014

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可变胞混联机械手臂构型设计与刚度特性分析

—————————————————————— | 更新时间：2025-07-09

- 可变胞混联机械手臂构型设计与刚度特性分析
- Configuration Design and Stiffness Characteristics Analysis of Metamorphic Hybrid Robot Arm Mechanism
- 西安交通大学学报 2025年59卷第7期页码：140-149
- 作者机构：
  
  1.太原理工大学机械工程学院， 030024，太原
  2.燕山大学机械工程学院， 066004，河北秦皇岛
  3.河北省轻质结构装备设计与制备工艺技术创新中心， 066004，河北秦皇岛
  4.哈尔滨工业大学机电工程学院， 150001，哈尔滨
- 作者简介：
  
  王翘楚（1998—），男，硕士生；
  张静，女，副教授，硕士生导师。
- 基金信息：
  
  国家重点研发计划资助项目(2023YFB3407101);山西省科技创新领军人才团队资助项目(202204051002003);海安太原理工大学先进制造与智能装备产业研究院开放研发资助项目(2023HA-TYUTKFYF026)
- DOI：10.7652/xjtuxb202507014
  中图分类号： TP242;TH112
- 收稿：2024-12-02，
  
  网络首发：2025-03-12，
  
  纸质出版：2025-07-10
- 稿件说明：
移动端阅览
王翘楚, 张静, 史创, 等. 可变胞混联机械手臂构型设计与刚度特性分析[J]. 西安交通大学学报, 2025,59(7):140-149.

WANG Qiaochu, ZHANG Jing, SHI Chuang, et al. Configuration Design and Stiffness Characteristics Analysis of Metamorphic Hybrid Robot Arm Mechanism[J]. Journal of Xi’an Jiaotong University, 2025, 59(7): 140-149.
王翘楚, 张静, 史创, 等. 可变胞混联机械手臂构型设计与刚度特性分析[J]. 西安交通大学学报, 2025,59(7):140-149. DOI： 10.7652/xjtuxb202507014.

WANG Qiaochu, ZHANG Jing, SHI Chuang, et al. Configuration Design and Stiffness Characteristics Analysis of Metamorphic Hybrid Robot Arm Mechanism[J]. Journal of Xi’an Jiaotong University, 2025, 59(7): 140-149. DOI： 10.7652/xjtuxb202507014.

摘要

针对工业转运机器人普遍存在的末端轨迹误差大，多种转运需求难以适应等问题，基于混联机构和变胞机构的思想，设计了一种具有两种运动模式的可变胞混联机械手臂，并对腕部、肩部空间机构进行了刚度特性分析与优化。基于螺旋理论，根据自由度需求完成腕部和肩部机构的拓扑构型综合设计，继而通过变胞设计，实现运动模式切换。基于并联机构刚度叠加原理，建立了腕部、肩部机构的关节刚度模型，并以补偿误差为目的，提出腕部和肩部机构的刚度设计目标。以拓扑尺寸为设计变量，将刚度模型与刚度设计目标进行匹配，分析设计变量对刚度特性的影响，从而确定拓扑尺寸的设计方向。利用ANSYS软件对腕部和肩部机构进行静力学仿真，得到各个机构的关节最大变形量。仿真结果表明：在恒定载荷下，腕部机构拓扑尺寸调整后关节最大变形量增幅达2.85%~121.21%；肩部机构拓扑参数变化后各最大变形量降幅达3.18%~19.75%，验证了拓扑尺寸设计方向与机构的刚度设计方向一致。该研究为机构多目标优化以及误差补偿方法提供了参考。

Abstract

To address the common issues of large end-effector trajectory errors and the difficulty in meeting diverse transport requirements in industrial transfer robots

based on the ideas of hybrid and metamorphic mechanisms

a metamorphic hybrid robotic arm with two motion modes is designed. The stiffness characteristics of the wrist and shoulder spatial mechanisms are analyzed and optimized. Based on screw theory and the required degrees of freedom

a topological design of the wrist and shoulder mechanisms is completed

followed by mode switching through metamorphic design. Using the principle of stiffness superposition for parallel mechanisms

joint stiffness models for the wrist and shoulder mechanisms are established

and stiffness design objectives are proposed to compensate for errors. Topological dimensions are treated as design variables

and the stiffness models are matched with the stiffness design objectives to analyze the impact of design variables on stiffness characteristics

thereby determining the design direction for topological dimensions. Static simulations of the wrist and shoulder mechanisms are conducted using ANSYS software to obtain the maximum joint deformation of each mechanism. The simulation results indicate that

under a constant load

the maximum joint deformation of the wrist mechanism increases by 2.85% to 121.21% after adjusting the topological dimensions. In contrast

the maximum deformation of the shoulder mechanism decreases by 3.18% to 19.75% following changes in topological parameters. These simulation results verify that the design direction of topological dimensions is consistent with the stiffness design direction of the mechanisms. This study provides a reference for multi-objective optimization of mechanisms and error compensation methods.

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references

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