一种三构态变胞并联机构运动学及工作空间分析

doi:10.13973/j.cnki.robot.180318

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田海波, 马宏伟, 马琨, 魏娟. 一种三构态变胞并联机构运动学及工作空间分析[J]. 机器人, 2019, 41(3): 414-424.DOI: 10.13973/j.cnki.robot.180318. TIAN Haibo, MA Hongwei, MA Kun, WEI Juan. Kinematics and Workspace Analysis of a Metamorphic Parallel Mechanism with Three Configurations. ROBOT, 2019, 41(3): 414-424. DOI: 10.13973/j.cnki.robot.180318.

摘要常规并联机构运动不够灵活，难以提高机械腿的地面适应能力.本文在可转轴线转动副的基础上，提出一种可用于机械腿的2-PrRS+PR（P）S变胞并联机构.首先分析机构3种构态的自由度特性，然后建立机构的逆运动学模型，给出其约束条件及主要参数的取值范围.再采用蒙特卡洛法得到该机构的工作空间点云图，用自适应网格划分方法计算此空间的体积.与无变胞特性的同参数并联机构进行对比，发现工作空间形状有明显差异，且体积增大了29.36%.最后分析了其主要结构参数对工作空间体积的影响.该工作可为该变胞并联机构的尺度综合提供依据.

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关键词 ：变胞并联机构, 运动学, 工作空间, 参数优化

Abstract：It is difficult for conventional parallel mechanisms to improve the terrain adaptability of robotic legs due to its poor motion flexibility. Therefore, a 2-PrRS+PR(P)S metamorphic parallel mechanism is presented for robotic legs based on rotatable-axis revolute pairs. Firstly, the degrees of freedom of three configurations of the mechanism are analyzed. Secondly, the inverse kinematic model of the mechanism is established and the constraint conditions and the ranges of the key parameters are given. Furthermore, the workspace point-cloud of the mechanism is obtained by Monte Carlo method, and the volume of the workspace is calculated using the adaptive mesh method. Compared with the parallel mechanism without metamorphic properties, the shape of the calculated workspace is obviously different under the same parameters, and the workspace volume is 29.36% larger. Finally, the influences of the key structural parameters on the workspace volume are analyzed. It provides the basis for the dimension synthesis of the metamorphic parallel mechanism.

Key words： metamorphic parallel mechanism kinematics workspace parameter optimization

收稿日期: 2018-04-26 录用日期: 2018-09-27

TP242

基金资助:国家自然科学基金（51705412）；陕西省自然科学基础研究计划（2015JM5235）；陕西省教育厅专项科学研究计划（17JK0506）；同济大学嵌入式系统与服务计算教育部重点实验室开放课题基金（ESSCKF2015-04）.

通讯作者: 田海波 E-mail: ttttian_74@163.com

作者简介: 田海波(1974-),男,博士,副教授.研究领域:机器人机构及其运动控制理论.
马宏伟(1957-),男,博士,教授.研究领域:机电一体化系统与工业机器人,无损检测与评价,智能检测与控制.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180318 或 https://robot.sia.cn/CN/Y2019/V41/I3/414

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