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研究一类新型5自由度可重构混联机械手的创新设计和尺度综合问题,该机械手模块由一2自由度球面并联机构和一条通过滑移副与之串接的两转动一移动串联运动链组成。该混联机械手由于将定点转动与相对滑移运动解耦,因此具有工作空间/支链行程比大的特点,适合高速轻载作业,可作为即插即用模块用于搭建不同类型的加工制造装备。在建立2自由度球面并联机构的速度映射模型的基础上,分析该机构的奇异性和各向同性问题,并以速度雅可比矩阵最小奇异值的全域均值为操作性能指标,研究2自由度球面并联机构的尺度综合问题。通过单调性分析揭示出尺度参数对该指标的影响规律,进而将尺度综合问题简化为求解杆长等式约束问题。最后给出一组算例,使该尺度综合方法的有效性得到验证。
This paper studies the innovative design and scale synthesis of a new type of 5 DOF reconfigurable hybrid manipulator which consists of a 2 DOF spherical parallel mechanism and a 2-DOF tandem kinematic chain composition. Due to the decoupling between fixed point rotation and relative sliding movement, the hybrid manipulator has the advantages of large workspace / branch stroke ratio and is suitable for high-speed light-load operation and can be used as a plug-and-play module for building different types of manufacturing equipment. Based on the velocity mapping model of 2-DOF spherical parallel mechanism, the singularity and isotropy of this mechanism are analyzed. Taking the global mean of the minimum singular value of Jacobian speed as the operational performance index, The scale of comprehensive parallel organization problem. Through the monotonicity analysis, the influence rule of scale parameters on this index is revealed, and then the scale synthesis problem is simplified to solve the problem of rod length equality constraint. Finally, a set of examples is given to verify the validity of the method.