完全解耦3T2R并联机器人构型综合方法

doi:10.7527/S1000-6893.2015.0238

Abstract

Abstract:

To avoid the difficulties in the kinematics and dynamic analysis brought by the existence of coupling in the parallel mechanism, a very simple yet effective structural design is proposed about three-translational and two-rotational (3T2R) parallel robotic manipulators based on G_F set. The G_F set theory for type synthesis of parallel mechanisms is firstly introduced. Secondly, according to union arithmetic of G_F set and rotational motion planet theorem, the selection criterion of the input pair and type synthesis principle of decoupled branches are given. Following the type synthesis step, the structural synthesis of each kinematic chain for fully decoupled 3T2R parallel mechanism is performed, and specific process for structural synthesis of 3T2R five degrees of freedom decoupled parallel mechanism which include sole and double motivation kinematic chain is finished. Simultaneously, a lot of new mechanisms are attained. Finally, constraint screw is applied to analyzing kinematic characteristic of a parallel mechanism synthesized above. The expression of the Jacobian matrix is deduced which validates the decoupling feature of the mechanism. In addition it demonstrates the effectiveness of the novel method of structural synthesis for parallel mechanisms. The research provides a reference and possesses significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms.

Key words: parallel mechanism, structural design, G_F set, fully decoupled, Jacobian matrix

CLC Number:

TH112
TP242

QIN Youlei, CAO Yi, CHEN Hai, GE Shuyi, ZHOU Hui. Structural synthesis method of fully decoupled 3T2R parallel robotic manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(6): 1983-1991.

References

[1] WU Q, WANG Z L, WANG Z F. Adaptive control and parameters optimization of space docking mechanism[J]. Journal of Astronautics, 2007, 28(2):457-460.
[2] WU D, GU H. Adaptive sliding control of six-DOF flight simulator motion platform[J]. Chinese Journal of Aeronautics, 2007, 20(5):425-433.
[3] XIAO Y, LIN Q, ZHENG Y. Model aerodynamic tests with a wire-driven parallel suspension system in low-speed wind tunnel[J]. Chinese Journal of Aeronautics, 2010, 23(4):393-400.
[4] 谢志江, 孙小勇, 孙海生, 等. 低速风洞动态试验的高速并联机构设计及动力学分析[J]. 航空学报, 2013, 34(3):487-494. XIE Z J, SUN X Y, SUN H S, et al. Mechanism design and dynamics analysis of high speed parallel robot for dynamic test in low speed wind tunnel[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(3):487-494(in Chinese).
[5] ZENG D X, HOU Y L, LU W J, et al. Comparative analysis of characteristics of the coupled and decoupled parallel mechanisms[J]. Chinese Journal of Mechanical Engineering, 2010, 23(4):468-476.
[6] HUANG Z, LI Q. Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method[J]. The International Journal of Robotics Research, 2003, 22(1):59-79.
[7] LI Q C, HUANG Z, HERVE J M. Displacement manifold method for type synthesis of lower-mobility parallel mechanisms[J]. Science in China Series E:Technological Sciences, 2004, 47(6):641-650.
[8] YANG T L, LIU A X, JIN Q, et al. Position and orientation characteristic equation for topological design of robot mechanisms[J]. Journal of Mechanical Design, 2009, 131(2):021001-021017.
[9] YANG J L, GAO F, GE Q J, et al. Type synthesis of parallel mechanisms having the first class G_F sets and one-dimensional rotation[J]. Robotica, 2011, 29(6):895-902.
[10] KONG X W, GOSSELIN C M. Type synthesis of input-output decoupled parallel manipulators[J]. Transactions of the Canadian Society for Mechanical Engineering, 2004, 28(2A):185-196.
[11] GOGU G. Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations[J]. European Journal of Mechanics-A/Solids, 2004, 23(6):1021-1039.
[12] GLAZUNOV V. Design of decoupled parallel manipulators by means of the theory of screws[J]. Mechanism and Machine Theory, 2010, 45(2):239-250.
[13] ZENG D X, HUANG Z. Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J]. Science China Technological Sciences, 2011, 54(4):998-1004.
[14] 张彦斌, 吴鑫, 刘宏昭. 完全各向同性2T1R空间并联机器人机构型综合[J]. 农业机械学报, 2011, 42(11):200-207. ZHANG Y B, WU X, LIU H Z. Structural synthesis of fully-isotropic 2T1R spatial parallel robotic manipulators[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(11):200-207(in Chinese).
[15] ZHANG Y B, LIU H Z, WU X. Kinematics analysis of a novel parallel manipulator[J]. Mechanism and Machine Theory, 2009, 44(9):1648-1657.
[16] 张帆, 张丹. 基于支链驱动理论的解耦球面转动并联机构型综合[J]. 农业机械学报, 2011, 42(11):195-199. ZHANG F, ZHANG D. Structural synthesis of decoupled spherical parallel mechanism based on driven-chain principle[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(11):195-199(in Chinese).
[17] GAO F, YANG J, GE Q J. Type synthesis of parallel mechanisms having the second class G_F sets and two dimensional rotations[J]. Journal of Mechanisms and Robotics, 2011, 3(5):637-647.
[18] JIN Q, YANG T L. Synthesis and analysis of a group of 3-degree-of-freedom partially decoupled parallel manipulators[J]. Journal of Mechanical Design, 2004, 126(2):301-306.
[19] GAO F, LI W, ZHAO X, et al. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs[J]. Mechanism and Machine Theory, 2002, 37(11):1395-1411.
[20] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 北京:高等教育出版社, 2006:117-121. HUANG Z, ZHAO Y S, ZHAO T S. Advanced spatial mechanism[M]. Beijing:Higher Education Press, 2006:117-121(in Chinese).

Structural synthesis method of fully decoupled 3T2R parallel robotic manipulators

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Ting LIU, Qi LIN, Zhen LIU, Xiaoguang WANG, Huisong WU, Yonggang XU. Reconfigurable wire⁃driven parallel support mechanism for electromagnetic scattering test [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 328658-328658.
[2]	Weihong ZHANG, Han ZHOU, Shaoying LI, Jihong ZHU, Lu ZHOU. Material⁃structure integrated design for high⁃performance aerospace thin⁃walled component [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(9): 627428-627428.
[3]	Yunwen FENG, Xinyi LIN, Xiaofeng XUE, Xiang YANG, Jiaqi LIU. Design of civil aircraft explosion-proof structure for high reliable one-way blasting [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(18): 228297-228297.
[4]	Xiangtao MA, Fayao WANG, Yingjie ZHU, Peng HAO, Bo WANG, Guanri LIU. Accelerated optimization design of stiffened cylindrical shell for imperfection tolerance [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 226430-226430.
[5]	LI Dong, LI Pingqi. Technological breakthroughs of LM-5 and future developments of China's launch vehicle [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(10): 527269-527269.
[6]	GUO Lei, GAO Yuan, XIN Hui. Laser modification parameters optimization and structural design of thermal barrier coatings [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 424114-424114.
[7]	XIE Feng, HONG Guanxin, ZHANG Chenkai, WEI Zhongwu, MA Handong. Ground calibration method of captive trajectory system parallel mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(1): 423175-423175.
[8]	CHEN Wenliang, PAN Guowei, WANG Min. High precision positioning method for aircraft fuselage panel based on force/position control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(2): 522403-522403.
[9]	HAN Feng, TIAN Wei, LIAO Wenhe, ZHANG Xuan, WANG Lifeng. Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 2083-2090.
[10]	ZHANG Ming, LIU Wenbin, LI Chuang, NIE Hong. Optimization-driven design method of landing gear structure [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(3): 857-864.
[11]	HUANG Peng, WANG Qing, LI Jiangxiong, KE Yinglin, ZHANG Chunshan. Adjustment Optimal Trajectory Planning of Aircraft Component Based on Dynamics Model [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(9): 2672-2682.
[12]	WEN Liwei, LI Junfei, WANG Xianfeng, XIAO Jun. Adjustment Algorithm Based on Structural Design for Automated Tape Laying and Automated Fiber Placement [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(7): 1731-1739.
[13]	WANG Rui, ZHOU Zhou, ZHU Xiaoping, XIAO Wei. Improving the Geometrically Nonlinear Intrinsic Beam Element Model of Wing for High Efficiency [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(6): 1309-1318.
[14]	MA Yanhong, LU Hongwei, ZHU Haixiong, HONG Jie. Structural Stiffness Design and Experimental Evaluation of Elastic Ring-metal Rubber Damper [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(6): 1301-1308.
[15]	XIE Zhijiang, SUN Xiaoyong, SUN Haisheng, ZHANG Jun. Mechanism Design and Dynamics Analysis of High Speed Parallel Robot for Dynamic Test in Low Speed Wind Tunnel [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(3): 487-494.