基于分形理论的混联机器人构型设计方法

发布时间：2018-03-29 19:00

本文选题：混联机器人构型　切入点：机构拓扑图　出处：《东华大学学报(自然科学版)》2017年02期

【摘要】：为综合得到混联机器人构型,基于分形理论提出了一种新的混联机器人机构构型设计方法,其能够有效地解决多路径横向非典型混联机构构型的设计问题.首先,阐述了机构拓扑图和分形理论的概念;其次,建立了运动副及其空间方位关系的二进制码,规定了为求解机构拓扑图的路径法则和用以推导运动副的输出位移子集的串并联计算法则;然后,根据分形理论推导出分形后的机构拓扑图,并适配运动副从而获得混联机器人机构的整体构型;最后,根据该构型设计方法,实现了2T1R三自由度混联机构的构型设计,并对综合后的混联机器人机构进行分析,验证了该构型设计方法的可行性.
[Abstract]:In order to synthesize the configuration of hybrid robot, based on fractal theory, a new configuration design method of hybrid robot mechanism is proposed, which can effectively solve the problem of configuration design of multi-path transverse atypical hybrid mechanism. The concepts of mechanism topology and fractal theory are expounded. Secondly, the binary code of kinematic pair and its spatial azimuth relation is established. In order to solve the path rule of the topological graph of the mechanism and the series-parallel calculation rule used to deduce the output displacement subset of the kinematic pair, the mechanism topology diagram after fractal is deduced according to the fractal theory. Finally, according to the configuration design method, the configuration design of 2T1R three-degree-of-freedom hybrid mechanism is realized, and the integrated hybrid robot mechanism is analyzed. The feasibility of the configuration design method is verified.
【作者单位】：江南大学机械工程学院;江南大学江苏省食品先进制造装备技术重点实验室;上海交通大学机械系统与振动国家重点实验室;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(50905075,51505190) 江苏省"六大人才高峰"资助项目(ZBZZ-012) 系统控制与信息处理教育部重点实验室开放课题资助项目(scip201506) 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;TP242

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