一种基于FIS理论的串-并联转换双模式机器人构型综合

Topology synthesis of dual-mode robots with series-parallel conversion based on FIS theory

文中依据狭窄工作空间精密加工的需求,基于有限瞬时旋量理论(FIS理论),开展了可实现串-并联模式转换的双模式机器人构型综合研究。首先,基于FIS理论,提出一种串-并联双模式机器人构型综合的一般流程;其次,根据工程环境需求,提出变模式单元、串联模式机器人和并联模式机器人的连续运动数学表达,生成其支链标准式,通过旋量三角积运算,综合各自完备的衍生支链;再次,考虑串联模式与并联模式转换中出现的不兼容问题,提出双模式机器人支链匹配原则,获得满足装配条件的双模式机器人支链结构;最终,确定变模式单元、串联模式机器人和并联模式机器人的支链装配条件,综合获得串-并联转换双模式机器人多种拓扑构型。

In this article,in order to meet the requirement of precision machining in narrow workspace,topology synthesis of dual-mode robots with series-parallel conversion is carried out based on the finite and instantaneous screw theory(FIS theory).Firstly,the general process of topology synthesis of dual-mode robots with series-parallel conversion is proposed according to the FIS theory.Secondly,the mathematical expressions of continuous motion for the variable-mode unit,the series-mode robot and the parallel-mode robot are worked out according to the engineering requirement;the standard branch formulas are set up,and then the complete derived branches are obtained by means of screw-triangular product operation.Thirdly,with the incompatibility between the series mode and the parallel mode,the matching principle of the dual-mode robot's branches is proposed,and the branch configuration which meets the assembly requirement is determined.Finally,the assembly conditions of the variable-mode unit,the series-mode robot and the parallel-mode robot are identified,and a variety of topology synthesis of dual-mode robots with series-parallel conversion are obtained.