Gough-Stewart并联机构无奇异位置路径规划

发布时间：2019-02-09 18:50

【摘要】：奇异位形严重影响并联机器人机构的性能,有必要在获得机构奇异位形分布规律基础上进一步探讨机构的奇异规避问题.主要研究六自由度Gough-Stewart并联机构的奇异轨迹几何性质和无奇异路径规划.构建机构位置奇异轨迹方程,并指出机构位于一系列动平面上的位置奇异轨迹均为具有明显几何性质的二次曲线.基于上述奇异轨迹几何性质,当给定起始点和目标点时,给出机构无奇异运动路径存在与否的一般性判别方法;若存在无奇异运动路径,进一步给出机构位于动平面上的无奇异路径规划具体实现方法;以数值实例验证了上述方法的有效性.研究成果对并联机器人机构的奇异规避问题研究具有重要的理论意义和实际参考价值.
[Abstract]:The singularity configuration seriously affects the performance of the parallel robot mechanism. It is necessary to further discuss the singularity evading problem on the basis of obtaining the singular configuration distribution law of the mechanism. The geometric properties of singular locus and the non-singular path planning of a 6-DOF Gough-Stewart parallel mechanism are studied in this paper. The position singular locus equation of the mechanism is constructed, and it is pointed out that the position singular locus of the mechanism on a series of moving planes are all conic curves with obvious geometric properties. Based on the geometric properties of the singular locus, a general method to distinguish the existence of the mechanism's motion path without singularity is given when the starting point and the target point are given. If there is a non-singular moving path, the realization method of the non-singular path planning of the mechanism on the moving plane is further given, and the effectiveness of the above method is verified by a numerical example. The research results have important theoretical significance and practical reference value for the study of singularity circumvention of parallel robot mechanism.
【作者单位】：安徽理工大学机械工程学院;安徽理工大学机械工程博士后科研流动站;江南大学机械工程学院;上海交通大学机械系统与振动国家重点实验室;
【基金】：国家自然科学基金资助项目(51605006) 机械系统与振动国家重点实验室开放课题(MSV201407) 安徽省自然科学基金资助项目(1308085QE78) 安徽省高等学校自然科学研究基金重点资助项目(KJ2015A121)
【分类号】：TH112;TP242

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