期刊文献+

4-RRS冗余球面并联机构的静力学与刚度分析 被引量:28

Statics and Stiffness Analysis of 4-RRS Redundant Spherical Parallel Mechanism
下载PDF
导出
摘要 为提升球面并联机构的承载能力,提出一种4-RRS冗余球面并联机构。给出4-RRS冗余球面并联机构的构型设计。然后,建立机构的静力学模型。在锁定驱动关节的情况下,通过互易积运算求解支链作用于动平台上的反螺旋力系。基于建立的静力学模型,得出了各个关节的受力情况和各条支链的变形情况。以实例求解了冗余和非冗余情况下,支链关节受到的最大力和力矩。冗余时支链关节受到的最大力和力矩小于非冗余的情况。对机构进行刚度分析。构造机构的柔度矩阵,得出动平台中心点在受力时的广义位移。以实例对比冗余与非冗余机构的刚度与受力性能,得出了冗余时动平台的广义位移小于非冗余的情况。 In order to improve the load capacity of spherical parallel mechanism, a novel 4-RRS redundant spherical parallel mechanism is proposed. The structural configuration of such 4-RRS parallel mechanism is introduced and sketched out. The statics model is built. When the actuated joints are locked, the reciprocal screw system applied on the moving platform is obtained by using the reciprocal product. The force of each joint and the deformation of limbs are solved based on the built statics model. Take the redundant and non-redundant mechanisms as the examples, the maximum force and torque applied on the limb joint are obtained. The maximum force and torque of redundant mechanism are less than the ones of non-redundant mechanism. The stiffness analysis of performed. The compliance matrix and the generalized displacement of the center of the moving platform are derived. Compared the stiffness and force performance of the redundant mechanism with the non-redundant mechanism, the generalized displacement of the center of the moving platform of the redundant mechanism is less than the ones of the non-redundant mechanism.
出处 《机械工程学报》 EI CAS CSCD 北大核心 2015年第11期8-15,共8页 Journal of Mechanical Engineering
基金 国家自然科学基金(51175029 51475035) 北京市自然科学基金(3132019) 教育部'新世纪优秀人才'项目(NCET-12-0769) 中国博士后科学基金(2014M550601)资助项目
关键词 冗余球面 并联机构 静力学 刚度 广义位移 redundant sphere parallel mechanism statics stiffness generalized displacement
  • 相关文献

参考文献18

  • 1MERLET J P. Redundant parallel manipulators[J]. Journal of Laboratory Robotic and Automation, 1996, 8(1): 17-24.
  • 2MERLET J P. Parallel robots[M]. 2nd ed. Dordrecht: Springer, 2006.
  • 3ZANGANEH K E, ANGELES J. Instantaneous kinematics and design of a novel redundant parallel manipulator[C]//Proceedings of 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, CA, USA. New York: IEEE, 1994: 3043-3048.
  • 4MARQUET F, KRUT S, COMPANY O, et al. ARCHI: A new redundant parallel mechanism -modeling, control and first results[C]// Proceedings of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 3, 2001, Maul, HI, USA. NewYork: IEEE, 2001: 183-188.
  • 5KIM J, PARK F C, RYU S J, et al. Design and analysis of a redundantly actuated parallel mechanism for rapid machining[J]. IEEE Transactions on Robotics and Automation, 2001, 17(4): 423-434.
  • 6KIM J, HWANG J C, KIM J S, et al. Eclipse- II : A new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions[J]. IEEE Transactions on Robotics and Automation, 2001, 18(3): 367-373.
  • 7WANG Liping, WU Jun, WANG Jinsong. Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy[J]. Robotics And Computer- Integrated Manufacturing, 2010, 26(1): 67-73.
  • 8WU Jun, LI Tiemin, WANG Jinsong, et al. Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches[J]. Journal of Intelligent & Robotic Systems, 2013,72(1 ): 73-82.
  • 9GOGU G. Fully-isotropic redundantly-actuated parallel wrists with three degrees of freedom[C]//Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2007, Las Vegas, Nevada, USA. NewYork: ASME, 2007: 943-950.
  • 10SO B R, YI B J, KIM W, et al. Design of a redundantly actuated leg mechanism[C]//Proceedings of 2003 IEEE International Conference on Robotics and Automation, September 14-19, 2003, Taipei, Taiwan, China. New York: IEEE, 2003: 4348-4353.

二级参考文献37

  • 1沈辉,吴学忠,刘冠峰,李泽湘.冗余驱动并联机械手的混合位置 /力自适应控制(英文)[J].自动化学报,2003,29(4):567-572. 被引量:15
  • 2彭中波,黄玉美,马建辉,高峰,张永贵,史恩秀.3-RPS并联机构奇异位形分析[J].组合机床与自动化加工技术,2004(7):31-32. 被引量:4
  • 3张立杰,黄真.一种球面冗余并联机器人机构设计的基础研究[J].中国机械工程,2006,17(7):681-684. 被引量:8
  • 4白志富,韩先国,陈五一.冗余驱动消除并联机构奇异研究[J].航空学报,2006,27(4):733-736. 被引量:22
  • 5WU Jun,WANG Jinsong,LI Tiemin,et al.Analysis and application of a 2-DOF planar parallel mechanism[J].Journal of Mechanical Design,2007,129(4):434-437.
  • 6WANG J,GOSSELIN C M.Kinematic analysis and design of kinematically redundant parallel mechanisms[J].Journal of Mechanical Design,2004,126(1):109-118.
  • 7CHENG H,YIU Y K,LI Z X.Dynamics and control of redundantly actuated parallel manipulators[J].IEEE/ ASME Transactions on Mechatronics,2003,8(4):483-491.
  • 8FANG S,FRANITZA D,TORLO M,et al.Motion control of a tendon-based parallel manipulator using optimal tension distribution[J].IEEE Transactions on Mechatronics,2004,9(3):561-568.
  • 9KVTOSLAV B,BOHM J,VALASEK M.State-space generalized predictive control for redundant parallel robots[J].Mechanics Based Design of Structures and Machines,Special Issue on Virtual Nonlinear Multibody Systems,2003,31(3):413-432.
  • 10VIVAS A,POIGNET P.Predictive functional control of a parallel robot[J].Control Engineering Practice,2005,13(7):863-874.

共引文献44

同被引文献226

引证文献28

二级引证文献115

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部