基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人

doi:10.7527/S1000-6893.2019.22677

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基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人

许允斗^1,2, 赵云¹, 张东胜¹, 徐郑和¹, 姚建涛^1,2, 赵永生^1,2

1. 燕山大学河北省并联机器人与机电系统实验室, 秦皇岛 066004;
2. 燕山大学先进锻压成型技术与科学教育部重点实验室, 秦皇岛 066004

收稿日期:2018-09-14 修回日期:2018-10-15 出版日期:2019-06-15 发布日期:2019-06-26
通讯作者: 赵永生 E-mail:yszhao@ysu.edu.cn
基金资助:
国家重点研发计划（2017YFB1301901）；国家自然科学基金（51875495，51405425）；河北省自然科学基金专项项目（E2017203387）

Five-degrees-of-freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints

XU Yundou^1,2, ZHAO Yun¹, ZHANG Dongsheng¹, XU Zhenghe¹, YAO Jiantao^1,2, ZHAO Yongsheng^1,2

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004, China

Received:2018-09-14 Revised:2018-10-15 Online:2019-06-15 Published:2019-06-26
Supported by:
National Key R&D Program of China (2017YFB1301901); National Natural Science Foundation of China (51875495, 51405425); Natural Science Foundation of Hebei Province (E2017203387)

摘要/Abstract

摘要： 首先提出了一类含较少运动副四支链两转一移三自由度（2R1T）并联机构（PMs）2RPU-UPR-RPR和2UPR-RPU-RPR，然后提出了极限约束力螺旋系的概念，分析四支链2R1T并联机构末端的极限约束力螺旋系，对所提出的四支链2R1T并联机构是否同类机构中含运动副最少进行了论证。基于提出的四支链并联机构构造了一种五自由度混联机器人机构，建立了2-RPU-UPR-RPR并联机构的位置反解模型，并将其等效成一个三自由度串联机构RPR，进而对整个混联机器人机构进行了位置正反解分析，建立得到了混联机器人机构位置反解的显式解析表达式，并用加工球面轨迹的算例对所建运动学模型的正确性进行验证。提出的五自由度混联机器人含有极少的运动副，且所有转动自由度均具有连续转轴，能够得到解析的位置模型表达式，很容易实现轨迹规划与运动控制，具有良好的应用前景。

关键词: 2R1T并联机构, 五自由度混联机器人, 约束力螺旋系, 运动副, 连续转轴

Abstract: Firstly, this paper proposes a type of "two rotational degrees of freedom" and "one translational degree of freedom (2R1T) Parallel Mechanisms (PMs) with relatively few kinematic joints and adopting the four branches 2RPU-UPR-RPR and 2UPR-RPU-RPR.Then the concept of the ultimate constraint wrenches is put forward. The ultimate constraint wrenches exerted on the moving platform of 2R1T PMs with four branches are analyzed to verify whether the proposed four-branch 2R1T PMs have extremely fewer kinematic joints compared with the same kinds of mechanisms. Based on the proposed four-branch parallel mechanisms, a novel mechanism for the five-axis hybrid manipulator is constructed, and the inverse position model for the 2RPU-UPR-RPR parallel mechanism is established. The model is equivalent to a serial mechanism of RPR with three-degree-of-freedom, and the forward and inverse position models for the whole mechanism of the hybrid manipulator are analyzed. An explicit analytical expression for the inverse position of the hybrid mechanism is established. Finally, an example of machining a spherical locus is given to verify the correctness of the kinematic models. The five-degrees-of-freedom hybrid manipulator proposed in this paper can easily achieve trajectory planning and motion control because it contains extremely few kinematic joints, and all of its rotational degrees of freedom possess continuous axes and capable of obtaining the analytical expression of the position models. These benefits afford good application prospects for the proposed manipulator.

Key words: 2R1T PMs, five-degrees-of-freedom hybrid manipulator, constraint wrenches, kinematic joints, continuous axes

中图分类号:

V243.4
TG156

许允斗, 赵云, 张东胜, 徐郑和, 姚建涛, 赵永生. 基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人[J]. 航空学报, 2019, 40(6): 422677-422677.

XU Yundou, ZHAO Yun, ZHANG Dongsheng, XU Zhenghe, YAO Jiantao, ZHAO Yongsheng. Five-degrees-of-freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(6): 422677-422677.

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基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人

Five-degrees-of-freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints

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