新型超冗余驱动混联机器人设计分析与性能优化

Design,Analysis and Performance Optimization of a Novel Super-redundantly Actuated Hybrid Robot

提出了一种新型五自由度超冗余驱动混联加工机器人,并对该机器人的关键结构进行了设计分析与性能优化。基于螺旋理论对该机器人自由度进行了分析,研究了机器人的拓扑构型特征并进行了结构设计,结合局域指标与全域指标分析了机器人运动/力传递性能,基于性能图谱与无量纲化结构参数对机器人传递性能进行了优化,获取了机构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器人的全部优质姿态空间,并考虑关节运动限制与机构运动干涉条件,分析了机构的姿态空间。研究成果对于五轴混联机器人的研究与应用,具有重要的借鉴意义。

A novel super-redundantly actuated hybrid machining robot with five degree of freedom is proposed,and the key structure of the robot is designed,analyzed and optimized.The analysis of freedom is operated based on screw theory.The topological configuration of the robot is studied,and its structure is designed.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 mechanism are obtained.Full pose space of high-quality at the optimal structural parameters is studied.Considering the joint movement restriction and the interference conditions of the mechanism movement,the posture space of the mechanism is analyzed.The research is of great referent significance for the research and application of hybrid robot with five degrees of freedom.