完全各向同性解耦3T1R型并联机器人构型综合

上海交通大学学报（自然版） ›› 2016, Vol. 50 ›› Issue (05): 702-709.

完全各向同性解耦3T1R型并联机器人构型综合

曹毅1,2a,2b,3，秦友蕾1,3，陈海1,3，刘凯1,3，周辉1,2a,2b,3

(1.江南大学机械工程学院，江苏无锡 214122； 2.上海交通大学 a.机械系统与振动国家重点实验室， b.系统控制与信息处理教育部重点实验室，上海 200240； 3.江苏省食品先进制造装备技术重点实验室，江苏无锡 214122)

收稿日期:2015-06-05 出版日期:2016-05-28 发布日期:2016-05-28
基金资助:
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(MSV201407)，系统控制与信息处理教育部重点实验室开放基金(SCIP201506)，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)

Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism

CAO Yi1,2a,2b,3,QIN Youlei1,3,CHEN Hai1,3,LIU Kai1,3,ZHOU Hui1,2a,2b,3

(1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, Jiangsu, China； 2a. State Key Laboratory of Mechanical System and Vibration, 2b. Key Laboratory of System Control and Information Processing, Shanghai Jiaotong University, Shanghai 200240, China； 3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, Jiangsu, China)

Received:2015-06-05 Online:2016-05-28 Published:2016-05-28

摘要/Abstract

摘要： 摘要：为综合得到完全各向同性解耦并联机器人构型，基于GF集理论提出了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，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，实现了3T1R的4自由度完全各向同性解耦并联机构型综合，得到了大量新构型；针对所综合的一种新型并联机构，运用螺旋理论求解其机构的自由度并推导其雅克比矩阵，验证了该机构的完全各向同性，也进一步证明了该构型综合方法的有效性.

关键词: 并联机构, 型综合, GF集, 完全各向同性, 解耦

Abstract: Abstract： In order to obtain fullyisotropic and decoupled structures of the parallel robot, a very simple yet very effective structural design was proposed based on GF set. First, the basic concept of GF set, algorithms and the type synthesis principle, requirements for rotation based on GF set were introduced. Next, the selection criterion of the input pair and type synthesis principle of decoupled branches were given, which ensured that the input of various branches were isotropic and the decoupled. According to the type synthesis theory, the specific process for structural synthesis of 3T1R four degrees of freedom fullyisotropic and decoupled parallel mechanism were accomplished. Simultaneously, a lot of new mechanisms were obtained. Finally, the screw theory was applied to analyze the kinematic characteristic of the parallel mechanism synthesized above. The expression of the Jacobian matrix was deduced which validated the fullyisotropic of the mechanism and demonstrated the effectiveness of the novel method of structural synthesis for parallel mechanisms.

Key words: Key words： parallel mechanism, structural synthesis, GF set, fullyisotropic, decoupled

中图分类号:

TH 112

曹毅1,2a,2b,3，秦友蕾1,3，陈海1,3，刘凯1,3，周辉1,2a,2b,3. 完全各向同性解耦3T1R型并联机器人构型综合[J]. 上海交通大学学报（自然版）, 2016, 50(05): 702-709.

CAO Yi1,2a,2b,3,QIN Youlei1,3,CHEN Hai1,3,LIU Kai1,3,ZHOU Hui1,2a,2b,3. Type Synthesis of FullyIsotropic and Decoupled 3T1R Parallel Mechanism[J]. Journal of Shanghai Jiaotong University, 2016, 50(05): 702-709.

参考文献

［1］ZENG D X, HOU Y L, L W J, et al. Comparative analysis of characteristics of the coupled and decoupled parallel mechanisms［J］. Chinese Journal Mechanical Engineering, 2010, 23(4):468476. ［2］HUANG Z, LI Q C. General methodology for type synthesis of lowermobility symmetrical parallel manipulators and several novel manipulators［J］. International Journal of Robotics Research, 2002, 21(2):131145. ［3］LI Q C, HUANG Z, HERV 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. ［4］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): 112. ［5］史巧硕，高峰，余发国.基于GF集的三自由度移动并联机构构型研究［J］.上海交通大学学报，2008,42(7):11091115. SHI Qiaoshuo, GAO Feng, YU Faguo. 3 Type synthesis of 3DOF translational parallel mechanisms Based on GF Set［J］. Journal of Shanghai Jiaotong University, 2008,42(7):11091115. ［6］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. ［7］LI Weimin, GAO Feng, ZHANG Jianjun. RCUBE a decoupled parallel manipulator only with revolute joints［J］. Mechanism and Machine Theory, 2005, 40(4):467473. ［8］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. ［9］张彦斌, 吴鑫. 完全解耦二移动二转动并联机构结构综合［J］. 农业机械学报, 2013, 44(8):250256. ZHANG Yanbing, WU Xin. Structural synthesis of fully decoupled twotranslational and tworotational parallel mechanisms［J］. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(8):250256. ［10］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 Fan, ZHANG Dan. 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. ［11］杭鲁滨, 王彦, 杨廷力. 一种新型三平移一转动解耦并联机构分析［J］. 中国机械工程, 2004, 15(12):10351037. HANG Lubin, WANG Yan, YANG Tingli. Analysis of a new type 3 translations 1 rotation decoupled parallel manipulator ［J］. China Mechanical Engineering, 2004, 15(12):10351037. ［12］马晓丽, 马履中, 汪建平. 新型三平移一转动并联机构及运动学分析［J］. 中国机械工程, 2006, 17(2):191195. MA Xiaoli, MA Luzhong, WANG Jianping. Kinematics analysis of a new three translational and one rotational parallel manipulator［J］. China Mechanical Engineering, 2006, 17(2): 191195. ［13］金琼. 过约束机构与欠秩并联机器人机构研究［D］.南京:东南大学研究生院, 2001. ［14］GAO Feng, LI Weimin, ZHAO Xianchao，et al. New kinematic structures for 2, 3, 4, and 5DoF parallel manipulator designs［J］. Mechanism and Machine Theory, 2002, 37(12):13951411. ［15］黄真，赵永生，赵铁石．高等空间机构学［M］．北京：中国高等教育出版社, 2006:117121.

[1]	吴灌伦, 施光林. 双并联机构耦合连续体机械臂的设计与实现[J]. 上海交通大学学报, 2022, 56(6): 809-817.
[2]	李晗, 张波涛, 王俊杰, 孙运达, 龚圣捷. 光纤光栅传感器振动与温度信号解耦[J]. 上海交通大学学报, 2022, 56(2): 214-222.
[3]	万慧, 齐晓慧, 李杰. 基于线性矩阵不等式的线性/非线性切换自抗扰控制系统的稳定性分析[J]. 上海交通大学学报, 2022, 56(11): 1491-1501.
[4]	李庆波, 方泽远, 陈国良, 梅志伟, 杨婷. 基于跟踪微分器的捷联导引头解耦算法研究[J]. 空天防御, 2021, 4(4): 44-49.
[5]	侯珏, 姚栋伟, 吴锋, 吕成磊, 王涵, 沈俊昊. 混合励磁电机的电动汽车增程器控制策略[J]. 上海交通大学学报, 2021, 55(2): 206-212.
[6]	傅超, 范佳程, 王石刚, 梁庆华. Ortho-SUV支架空间位姿建模与求解[J]. 上海交通大学学报, 2020, 54(10): 1007-1014.
[7]	李冬辉，高峰. 基于扰动观测器的压缩式制冷系统改进Smith预估解耦控制[J]. 上海交通大学学报, 2019, 53(5): 593-599.
[8]	陈兵, 李克勇, 陈国良. 全捷联光电导引头的高动态解耦方法[J]. 空天防御, 2019, 2(4): 32-39.
[9]	姜晓明, 王旭烽, 张伟芳, 刘宜罡. 激光跟瞄系统粗精复合轴协同控制策略优化研究[J]. 空天防御, 2019, 2(3): 31-37.
[10]	汤腾飞1，张俊2，赵艳芹1. 类Exechon并联模块弹性静力学建模与分析[J]. 上海交通大学学报（自然版）, 2017, 51(8): 992-999.
[11]	麦雪凤. 智能解耦控制在过程控制实验装置上的设计与实现[J]. 实验室研究与探索, 2017, 36(5): 139-143.
[12]	江亚群，杨理，伍旭鹏,曹立波. 三相电压型脉宽调制整流器的系统设计及仿真 [J]. 上海交通大学学报（自然版）, 2010, 44(09): 1271-1275.
[13]	张以彬，陈俊芳. 创新产品供应链中解耦点的战略定位及其优化[J]. 上海交通大学学报（自然版）, 2008, 42(11): 1832-1835.