一种四自由度并联机器人的运动性能分析及仿真

doi:10.16180/j.cnki.issn1007-7820.2021.11.008

Abstract

Abstract:

In this study, the mechanical characteristics of the 3-TRT / SPS parallel robot are analyzed using the position and orientation characteristics theory. The aggregation of position and orientation characteristics and the degree of freedom of the robot are obtained, which are consistent with the expectation of robot mechanism configuration synthesis. The forward and inverse kinematics of the position of the parallel robot is analyzed using the analytic method. The results indicate that the forward and inverse kinematics algorithm are effective and feasible, and verify the rationality of the structural design of the parallel robot. The polar search method are utilized to solve the workspace of the 3-TRT/ SPS parallel robot, and the influence of different structural parameters on the workspace is compared. In the case of the same mechanism parameters, the working spaces of the 3-TRT/SPS parallel robot and the 3-PTT parallel robot are compared, and the results show that the 3-TRT / SPS parallel robot has a broader range of applications than the 3-PTT parallel robot.

Key words: 3-TRT/SPS, parallel robot, mechanism topology, position and orientation characteristics theory, degrees of freedom, coupling degree of mechanism, positive and inverse solutions, workspace

CLC Number:

TP242.3

HU Qiongqiong,SAN Hongjun,CHEN Jiupeng,XIE Feiya,CHEN Zhongping,LI Pengyu. Motions Analysis and Simulation of a Parallel Robot with Four Degrees of Freedom[J].Electronic Science and Technology, 2021, 34(11): 46-54.

Figures/Tables 11

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Figure 7.

Figure 8.

Figure 9.

Figure 10.

Figure 11.

References 19

[1]	陈久朋, 伞红军, 李鹏飞, 等. 5-DOF 并串联机器人运动学分析及仿真[J]. 电子科技, 2019, 32(12):37-42.
	Chen Jiupeng, San Hongjun, Li Pengfei, et al. Kinematics analysis and simulation for a novel 5-DOF serial-parallel robot[J]. Electronic Science and Technology, 2019, 32(12):37-42.
[2]	陈学礼, 陈在礼, 孔民秀. 并联机器人研究的进展与现状[J]. 机器人, 2002, 5(5):464-470.
	Chen Xueli, Chen Zaili, Kong Minxiu. Research progress and status of parallel robot[J]. Robot, 2002, 5(5):464-470.
[3]	郭金伟, 许允斗, 刘文兰, 等. 冗余驱动过约束并联机构受力分析[J]. 燕山大学学报, 2018, 42(3):199-205.
	Guo Jinwei, Xu Yundou, Liu Wenlan, et al. Force analysis of redundantly actuated overconstrained parallel mechanism[J]. Journal of Yanshan University, 2018, 42(3):199-205.
[4]	石晓宇. 少自由度并联机构研究综述[J]. 煤矿机械, 2011, 32(10):13-14.
	Shi Xiaoyu. Summary of less degrees of freedom parallel mechanism[J]. Coal Mine Machinery, 2011, 32(10):13-14.
[5]	沈惠萍, 朱小蓉, 尹洪波, 等. 并联机构的结构降耦原理及其设计方法[J]. 机械工程学报, 2016, 52(23):102-113.
	Shen Huiping, Zhu Xiaorong, Yin Hongbo, et al. Principle and design method for structure coupling-reducing of parallel mechanisms[J]. Journal of Mechanical Engineering, 2016, 52(23):102-103.
[6]	沈惠萍, 朱小蓉, 马履中, 等. 全解耦并联机构的运动学与工作空间分析[J]. 农业机械学报, 2005, 36(11):130-133.
	Shen Huiping, Zhu Xiaorong, Ma Lüzhong, et al. Analyses of kinematics and workspace for a 3-DOF fully De-coupled parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2005, 36(11):130-133.
[7]	邓嘉鸣, 尹洪波, 沈惠萍, 等. 基于方位特征集的两转动(0T-2R)并联机构的型综合及其应用[J]. 中国机械工程, 2013, 24(24):3386-3391.
	Deng Jiaming, Yin Hongbo, Shen Huiping, et al. Type synjournal and applications for 0T-2R parallel mechanisms based on POC set method[J]. China Mechanical Engineering, 2013, 24(24):3386-3391.
[8]	黄真. 高等空间机构学[M]. 北京: 高等教育出版社, 2014.
	Huang Zhen. Advanced spatial mechanism[M]. Beijing: Higher Education Press, 2014.
[9]	黄真, 刘婧芳, 曾达幸. 基于约束螺旋理论的机构自由度分析的普遍方法[J]. 中国科学, 2009, 39(1):84-93.
	Huang Zhen, Liu Jingfang, Zeng Daxing. The method of constrained helical mechanism based on universal freedom analysis theory[J]. Scientia Sinica, 2009, 39(1):84-93.
[10]	金琼, 杨廷力, 刘安心, 等. 基于单开链单元的三平移一转动并联机器人机构型综合及分类[J]. 中国机械工程, 2001, 32(9):78-83.
	Jin Qiong, Yang Tingli, Liu Anxin, et al. Structural synjournal and classification of the 4DOF (3T-1R) parallel robot mechanisms based on the units of single-open-chain[J]. China Mechanical Engineering, 2001, 32(9):78-83.
[11]	赵铁石, 黄真. 欠秩空间并联机器人输入选取的理论与应用[J]. 机械工程学报, 2000,(10):81-85.
	Zhao Tieshi, Haung Zhen. Less space rank parallel robot input selected theory and application[J]. Journal of Mechanical Engineering, 2000,(10):81-85.
[12]	伞红军. 新型五轴并串联机床的运动学分析与结构参数设计[D]. 哈尔滨:哈尔滨工业大学, 2009.
	San Hongjun. Kinematic analysis and structural parameters design of novel five axes serial-parallel machine tool[D]. Harbin:Harbin Institute of Technology, 2009.
[13]	沈惠萍, 周金波, 尤晶晶, 等. 具有解析式位置正解的2T1R并联机构运动性能分析[J]. 农业机械学报, 2020, 51(1):398-409.
	Shen Huiping, Zhou Jinbo, You Jingjing, et al. 2T1R parallel mechanism with analytic positive position solutions and its kinematic performance based optimization[J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(1):398-409.
[14]	杨廷力. 机器人机构拓扑结构设计[M]. 北京: 科学出版社, 2014.
	Yang Tingli. Theory and application of robot mechanism topology[M]. Beijing: Science Press, 2014.
[15]	杨廷力. 机械系统基本理论[M]. 北京: 机械工业出版社, 2004.
	Yang Tingli. The basic theory of mechanical systems[M]. Beijing: Machinery Industry Press, 2004.
[16]	Yang T L, Liu A, Shen H, et al. Topology design of robot mechanisms[M]. Singapore:Springer Singapore, 2018.
[17]	伞红军, 钟诗胜, 王知行. 一种新型五轴并串联机床的工作空间分析[J]. 四川大学学报, 2010, 42(2):243-249.
	San Hongjun, Zhong Shisheng, Wang Zhixing. Workspace analysis of a novel 5-DOF serial-parallel machine tool[J]. Journal of Sichuan University, 2010, 42(2):243-249.
[18]	张凯翔, 李奇, 熊彬洲, 等. 工业机器人空间轨迹仿真分析[J]. 电子科技, 2020, 33(10):26-32.
	Zhang Kaixiang, Li Qi, Xiong Binzhou, et al. Spatial trajectory simulation and analysis of industrial robot[J]. Electronic Science and Technology, 2020, 33(10):26-32.
[19]	胡炼, 赵祚喜, 吴晓鹏. ADIS16300四直由度IMU在姿态测量中的应用[J]. 电子设计工程, 2010, 18(7):103-106.
	Hu Lian, Zhao Zuoxi, Wu Xiaopeng. 4DoF IMU ADIS16300 and its application in attitude measurement[J]. Electronic Design Engineering, 2010, 18(7):103-106.

Motions Analysis and Simulation of a Parallel Robot with Four Degrees of Freedom

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 11

References 19

Related Articles 6

Metrics

Comments

Recommended 10

[1]	ZHANG Daoyi,SAN Hongjun,CHEN Jiupeng,LI Pengfei,XIONG Binzhou. Velocity Kinematics Analysis and Simulation of 5-DOF Hybrid Engraving Machine [J]. Electronic Science and Technology, 2020, 33(4): 42-49.
[2]	CHEN Jiupeng,SAN Hongjun,LI Pengfei,ZHANG Daoyi,XIONG Binzhou. Kinematics Analysis and Simulation for a Novel 5-DOF Serial-Parallel Robot [J]. Electronic Science and Technology, 2019, 32(12): 37-43.
[3]	WU Yankai,ZHANG Wei,MA Yingman,LI Jiayang. Two Degree of Freedom PID Parameter Optimization Based on GA-PSO Fusion Algorithm [J]. Electronic Science and Technology, 2019, 32(10): 54-59.
[4]	XUE Feng,MA Bei. Interference Alignment-based Interference Management in D2D Communications [J]. , 2016, 29(3): 140-.
[5]	ZHANG Chang,TANG Lijun,WU Dingxiang,HE Huiyong,SI Niu,LI Tao. Trajectory Analysis of Six Degrees of the Freedom Manipulator in Refrigerator Energy Detection [J]. , 2014, 27(4): 41-.
[6]	XIAO Hong-Jun. Study of Workspace of the Planar 3-RPR Parallel Manipulator [J]. , 2010, 23(10): 114-117.