Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom

A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic.R,P and U represent rotation,translation and universal pairs,respectively.Firstly,inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis.Then,output transmission indexes of branches in the parallel mechanism are given.Dimensional synthesis is completed based on the normalized design parameter.And optimization of flexure joints based on constrained energy is carried out.Afterwards,the novel compliant mechanism is obtained by direct replacing method.Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle.Finally,FEA simulation by Ansys Workbench is carried out to verify DOF,effectiveness of the dimension synthesis,and compliant model.Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.

Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining robots.However,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design stage.It is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design stage.Considering the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration stiffness.Subsequently,a specific method is proposed to calculate these stiffness indices.Initially,the various types of structural and driving stiffness for each branch are assessed and their specific values defined.Subsequently,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire workspace.Finally,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method above.The obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

NEW CRITERION OF DEGREE OF FREEDOM FOR PLANE MECHANISM

A new criterion of degree of freedom for planar mechanism was presented. Compared with Gruebler's equation, this criterion possesses some characteristics. On one hand, this equation needs no modifying to the complex hinges, degrees of local freedom, and the case of mechanism with all sliding pairs. On the other hand, synthesing the concepts of substitution higher pair for kinematically equivalent lower pair, DOF determination and evolution. which benefits the students in learning. Hence, the authors suggest the formula be recommended, since its briefness, easiness to grasp.

Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.

基于赋权偏差传递网络的6Dof-RUS并联机构随机误差分析

对于已经完成加工装配高精度并联机构,当出现使用精度无法满足设计要求时,需要对产生误差的源头进行追溯,只修复部分构件提高机构精度。以单点激光测距仪检测方法与六条由转动副(R)虎克铰链(U)球面副(S)构成单支链的6自由度并联机构(6Dof-RUS)随机误差模型之间的映射为研究内容。首先构建了6Dof-RUS并联机构赋权偏差传递网络,其次建立了相机坐标系中光斑与平面约束之间的映射方程,通过结构误差雅可比矩阵将结构参数误差映射为可观测的动平台位姿误差。最后进行了实验验证,实验结果表明,在有限次测量次数的情况下可快速对随机误差进行溯源,验证了所提方法的有效性与可靠性,对其他拓扑构型并联机构精度综合具有一定借鉴意义。

4自由度番茄采摘机软体机械臂运动学分析

综合考虑番茄采摘机软体机械臂在复杂环境中的使用需求,以此来确定番茄采摘机械的4自由度模型。对番茄采摘软体机械臂进行正运动和逆运动分析,同时确定机械臂结构、关节长度、自由度选择等参数,并绘制出三维模型,从而为下一步选择控制系统硬件及软件编程奠定基础。

一种变自由度单回路机构的变拓扑结构设计及拓扑分析

特殊单回路机构通过一些特殊位置后会发生自由度变化,从而使其拓扑学、运动学/动力学性能发生变化,并适用于不同的应用背景。研究设计了一种由8个转动副(R)组成的单回路并联机构,它有3种运动模式,分别为2自由度、4自由度以及3自由度驱动,对应3个机构;然后,分析计算了3种运动模式下机构的方位特征集、自由度、耦合度3个主要拓扑特性,并分析了3种机构变拓扑结构的稳定性及可转变性;同时,对运动模式1、模式3下机构的位置正反解进行了分析。为基于这种变自由度单回路机构单元的可重构并联机构的研究提供了基础。

新型3-DOF 1T2R并联机构的运动学分析与尺度优化

移动和转动混合运动的并联机构具有很高的研究和应用价值。基于转移混合输出运动的机构适用范围广,但该类机构的设计比较困难。为了研发和推广转移混合运动的1T2R并联机构,基于平面五杆机构和一条无约束支链,设计了一种一平移两转动(1T2R)的并联机构。首先,根据方位特征(POC)方程对机构进行了拓扑结构分析,并计算了该机构的自由度;然后,对该并联机构进行了运动学建模,推导了其位置正反解的解析表达式,并基于雅可比矩阵分析了机构的奇异性,利用三维离散搜索法计算了机构的工作空间,给出了机构在工作空间中的灵巧度分布情况;最后,利用粒子群算法(PSO)对机构的工作空间和灵巧度进行了双重优化,同时探讨了无约束支链的布置角φ对机构工作空间和灵巧度的影响。研究结果表明:所设计的1T2R并联机构结构简单,具有位置解析解;优化后的机构的工作空间和灵巧度分别提升了93.47%,203.42%;当无约束支链的驱动方向与平面(2P-3R)机构垂直布置时,能够获得更好的运动性能。该结果为3-DOF 1T2R机构的实际应用奠定了理论基础。

并联坐标测量机研究进展

并联机构具有刚度大、承载力强、动力性能好、支链间误差平均效应等优势,在机器人、机床、微动器件等领域得到了广泛应用。然而,传统直角式坐标测量机和关节式坐标测量机采用串联结构,存在误差累积的固有缺陷。鉴于并联机构具有的互补优势,近二十年来并联坐标测量机得到了快速的发展。结合国内外技术现状和团队的研究成果,对并联坐标测量机机构学、运动学、动力学、机构性能和控制策略等方面进行了系统的回顾和分析,总结了目前并联坐标测量机研究中存在的主要问题,提出了进一步的解决方法与思路,并展望了未来的发展趋势。

双模式可重构并联机构的构型及其在酒盒产线中的应用

目的为实现酒盒生产线上酒盒胶线点胶和酒盒底座清废环节的自动化,提出一种双模式可重构并联机构。方法基于螺旋理论分析该机构在2种模式下的自由度,利用闭环矢量法和D-H法求得对应模式下的位置逆解,采用数值法求解机构工作空间、灵巧度和转动能力指标,给出该机构的应用实例。结果该机构在2-URU/RRC模式下具有3T自由度,2-URU/URC模式下具有3T1R自由度,工作空间连续且无空洞,获得2-URU/RRC模式下灵巧度指标分布规律和2-URU/URC模式下动平台转动能力。结论该机构在2-URU/RRC模式下可满足胶线点胶作业需求,在2-URU/URC模式下可满足底座清废作业需求,提高了酒盒生产线自动化程度。

基于ADAMS六自由度矿用液压机械臂的动力学仿真

为保障煤矿井下运输安全,减少井下人工搬运,进一步提升搬运机器人的井下运输效率至关重要。针对该现状提出一个具有六自由度液压机械臂的搬运机器人机械结构设计方案。利用SolidWorks软件建立液压机械臂的仿真模型,并采用ADAMS软件对机械臂关节角速度进行动力学仿真,最后进行计算对比。由仿真结果总结得出该方案机械臂结构设计具有合理性。

电磁发射穿甲弹脱壳机理研究

为了适应电磁轨道发射方式,采用的两瓣式矩形弹托小口径脱壳穿甲弹相较于传统火炮发射缺乏膛内的预分离力,出炮口后弹托受到的气动力直接影响到脱壳的可靠性。为提高脱壳可靠性,基于动网格技术建立了流体力学与6DOF动力学耦合的数值仿真模型,研究了脱壳过程中流场的变化规律和弹体受到的气动干扰。针对弹托迎风窝前端面位置以及迎风窝深度两个核心结构参数,对比了弹托的运动特性及气动参量。结果表明:适当调整迎风窝前端面位置可以改善弹托翻转姿态,增加迎风窝深度可有效改善弹托升阻比,优化弹托分离轨迹。该方法可为电磁发射脱壳穿甲弹的设计提供参考。

5-DOF混联机器人设计与运动学分析

针对现有2R1T并联机构并不能很好地满足航空航天工业制孔稳定性的问题,设计了一种全新的两转一移并联机构3SPU-PU,并基于此并联机构设计了2-DOF转头,构造了5-DOF混联机器人,可用于某型飞机座舱盖制孔。首先,利用修正的G-K公式计算了3SPU-PU并联机构的自由度;其次,利用子结构综合的方法对所设计的五自由度混联机器人进行了逆运动学分析;运用ADAMS仿真分析与MATLAB理论计算对运动学分析理论模型进行了验证;最后,利用有限元分析方法对混联机器人进行了静力学分析。结果表明,所设计的混联机器人刚度大、质量轻,能更好地满足制孔稳定性的需求,研究结果也为混联机器人的样机研制、动力学分析及实时控制打下了理论基础。

3PRS并联机构的运动学和误差分析

为了提高机床的加工性能,研究机床的精度是关键,建立了一种用于大型复杂曲面零件高效铣削加工的3PRS并联摆角头的运动学模型,并进行了误差分析。该机构具有3个自由度,通过修正的K-G公式对其自由度进行了验证;进一步分析了该机构的位置正逆解;在此基础上给定结构参数误差,利用开发的程序植入Ansys计算刀尖点位姿,通过两组位姿误差的比较,为后续运动学标定和误差补偿试验做准备。

铰接式矿用胶轮车转向机构动应力分析

以WC5J型矿用胶轮车为研究对象,介绍一种基于有限元分析的铰接式矿用胶轮车转向机构动应力分析方法。首先,对WC5J胶轮车基本情况进行了简单介绍,然后模拟分析了多路况条件下的单自由度铰接转向机构动应力特点,之后根据模拟分析结果,对铰接车二自由度结构进行改进,并以此为基础,再次进行动应力分析,最后,通过实践应用分析的方式验证改进后的铰接车二自由度是否合理。通过验证分析可以发现,铰接车改进后,相关部件出现损伤的几率更低,力学性能更佳,有利于提升铰接车的应用效果,可应用到煤矿生产领域。

低剖重载3UPS-3SS稳定平台运动学及性能分析

为了实现并联机构上平台的位置控制,对一种双层可拆卸低剖面重负载的3UPS-3SS并联机构进行运动学分析。首先,对该机构采用旋量理论、G-K公式,分析并验证了其为1T2R工作模式的三自由度并联机构;其次,对机构进行运动学分析,通过矢量方程法建立了位置反解模型和约束方程组,进而得到运动学反解的表达式,凭借反解解析式求解了雅可比矩阵;最后,建立运动模拟模型,考虑实际工作模式条件,对模型进行简化,并通过MATLAB软件通过遍历法和快速极坐标法描绘其可达工作空间,证明了该机构的可行性。此研究为该机构的动力学和控制奠定了理论基础。

巡检机器人2自由度弹性缓冲机构的设计与研究

针对现有的绳牵引式巡检机器人自身抖动较大影响图像识别准确率的问题,设计了一种有效减少巡检机器人自身抖动的2自由度弹性缓冲机构,用于连接绳索和巡检机器人。介绍了巡检机器人的现状,对带式输送机往复巡检系统总体方案进行了研究和设计。据此,使用ADAMS建立虚拟样机模型,重点仿真分析机器人在水平匀速巡检工况下,2自由度弹性缓冲机构的减振效果,并得出其最佳弹性系数。最后搭建实验测试平台,通过实验和仿真的结果表明:2自由度弹性缓冲机构能够大幅减少巡检机器人主体的上下抖动,提高巡检机器人图像及其他传感器识别准确率。

海底定位抛砂系统的多自由度复合机构设计

在传统抛投机构基础上,结合机械臂的工作方式,设计伸缩导向槽,对竖直导向筒的翻转平移灵活补偿;设计自动抓钩,准确实现水平输送带与竖直导向筒的连接。实现抛投料筒在多个自由度上运动,在保证抛投机构灵活性、准确性的同时,也保证物料运输抛投的连贯性。

Novel Mobility Formula for Parallel Mechanisms Expressed with Mobility of General Link Group

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.