对称超冗余驱动6RPS并联机构运动性能分析与优化

Kinematics Performance Analysis and Optimization of Symmetrical Super-redundant Parallel Manipulators 6RPS

提出了一种全对称两转一移三自由度超冗余驱动6RPS并联机构,采用螺旋理论对该机构自由度进行了分析,建立了机构运动学反解并进行了仿真验证,结合局域指标与全域指标分析了机构运动/力传递性能,采用性能图谱与无量纲化结构参数对机构传递性能进行了优化,获取了机构6RPS的最优结构尺度与最优传递性能分布,研究了最优结构尺度下机构的全部优质姿态空间,并采用雅可比矩阵与运动/力传递性能分析了机构的运动奇异性。研究成果对于两转一移类并联机构研究与应用,提供了一定的理论基础。

A super-redundantly actuated parallel manipulator 6RPS with three degrees of freedom,which is two rotational degrees and one translational degree,is proposed.The analysis of freedom is operated based on screw theory.Kinematic model is established and verified by simulation example.Motion/force transfer performance is analyzed in combination with local and global indicators.The transfer performance is optimized based on performance map and structural parameters of dimensionless.Optimal structural parameters and transfer performance distribution of the manipulator 6RPS are obtained.Full pose space of high-quality at the optimal structural parameters is studied.Motion singularity of the mechanism is analyzed based on Jacobian matrix and transfer performance.The research results provide a certain theoretical basis for the research and the application of parallel mechanism with two rotational degrees and one translational degree of freedom.