六自由度混联机构运动学分析

发布时间：2018-01-10 21:01

本文关键词：六自由度混联机构运动学分析　出处：《东华大学学报(自然科学版)》2017年05期 　论文类型：期刊论文

【摘要】：混联机构结合了并联机构和串联机构两者的优点,有效地扩大了机器人的应用范围.提出了一种由两个不同的三自由度并联机构串接而成的混联机构,对其进行运动学分析,分别求取上下两个并联模块的运动学正解方程,从而得到整个混联机构的运动学正解.通过给定机构结构参数和驱动输入参数,用一组算例求得运动学动平台位姿,并画出三维机构位姿状态图模型,更加直观地了解机构的位姿状态.然后求解其运动学逆解,按照运动学正解结果,给定机构的两组位姿,求得此时机构的驱动输入参数及各转动副的状态,对比正反解的结果,进而验证了双并联型混联机构运动学正反解模型的正确性.最后,在运动学分析的基础上,利用极限坐标搜索法,结合混联机构的运动学反解,给出机构工作空间求解的算法.给定机构的结构参数,考虑杆长约束、关节转动副约束及杆件干涉等影响条件下,利用数值搜索法在圆柱坐标系中搜索工作空间的边界.在Matlab软件中仿真得到混联机构在给定不同姿态下的位置工作空间和给定位置下的姿态工作空间.
[Abstract]:The hybrid mechanism combines the advantages of the parallel mechanism and the series mechanism and effectively expands the application range of the robot. A hybrid mechanism consisting of two different 3-DOF parallel mechanisms is proposed. The kinematics analysis is carried out, and the forward kinematics equations of the upper and lower parallel modules are obtained, and the kinematic positive solutions of the whole hybrid mechanism are obtained. The structural parameters and driving input parameters of the mechanism are given. A set of examples are used to obtain the kinematics platform position and pose, and a three-dimensional mechanism pose state diagram model is drawn to understand the position and pose state of the mechanism more intuitively. Then the inverse kinematics solution is solved, and the kinematics positive solution is obtained according to the result of kinematics positive solution. Given the pose of two groups of the mechanism, the driving input parameters of the mechanism and the state of each rotating pair are obtained, and the results of the forward and negative solutions are compared, and the correctness of the kinematics and inverse solution model of the dual-parallel hybrid mechanism is verified. Finally. On the basis of kinematics analysis, by using the limit coordinate search method and the inverse kinematics solution of the hybrid mechanism, an algorithm for solving the workspace of the mechanism is presented. Given the structural parameters of the mechanism, the constraint of the length of the rod is considered. Under the influence of the joint rotation pair constraint and the interference of the rod, etc. The boundary of workspace is searched in cylindrical coordinate system by numerical search method. The workspace of hybrid mechanism under given different positions and attitude workspace under given position are obtained by simulation in Matlab software. .
【作者单位】：江南大学机械工程学院;江苏省食品先进制造装备技术重点实验室;上海交通大学系统控制与信息处理教育部重点实验室;
【基金】：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)
【分类号】：TH112
【正文快照】： 3.江苏省食品先进制造装备技术重点实验室,无锡江苏214122)混联机构结合了传统的串联机构和并联机构的优点,具有承载能力强、刚度大、精度高、工作空间大等优点,有效地扩大了机器人的应用领域[1-2].混联位置分析是机构分析中的基础问题,并联机构的位置分析具有反解简单、正解

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