含被动高副的冗余驱动并联机器人优化设计

doi:10.13973/j.cnki.robot.200357

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温海营, 戴敏, 张慧, 张志胜, 于继勇. 含被动高副的冗余驱动并联机器人优化设计[J]. 机器人, 2021, 43(6): 694-705.DOI: 10.13973/j.cnki.robot.200357. WEN Haiying, DAI Min, ZHANG Hui, ZHANG Zhisheng, YU Jiyong. Optimal Design of a Redundantly Actuated Parallel Robot withPassive Higher Kinematic Pair. ROBOT, 2021, 43(6): 694-705. DOI: 10.13973/j.cnki.robot.200357.

摘要针对具有平移和旋转混合自由度的冗余驱动并联机器人，提出一种优化设计方法．首先，介绍了仿人类口颌设计的并联机器人，由6-PUS（prismatic-universal-spherical）并联机构模拟6条主要咀嚼肌，2个被动高副模拟下颌关节．针对机构含被动高副的特点，利用末端执行器上的3点描述位姿，建立其量纲一致的雅可比矩阵．基于机器人结构和尺寸对速度误差传递性能的影响的分析，给出了该冗余驱动并联机器人的优化方法．设置性能参数对该冗余驱动并联机器人进行了尺寸优化设计，与优化前机器人机构相比全局误差标准差下降了39.83%．结果表明所提出的优化设计方法提高了并联机构的速度传递性能，并可以扩展用于其他机器人的优化设计．

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关键词 ：被动高副, 优化设计, 冗余驱动, 并联机器人

Abstract：For the redundantly actuated parallel robot with both translational and rotational degrees of freedom (DOFs), anoptimal design method is proposed. Firstly, a parallel robot bio-inspired by human jaw is introduced, with a 6-PUS (prismaticuniversal-spherical) parallel mechanism imitating 6 main masticatory muscles and 2 passive HKPs (higher kinematic pairs) imitating mandibular joints. As characteristics of the mechanism with passive HKPs are considered, the dimensionallyhomogeneous Jacobian matrix of the robot is established by using the pose description method based on the three points onthe end-effector. Then, an optimization method of the redundantly actuated parallel robot is given, based on analyses on howthe velocity error transmission performance is effected by the structure and dimension of the robot. Finally, the performanceindex is set to perform the dimension optimization of the redundantly actuated parallel robot. The global error standarddeviation decreases by 39.83% compared with that of the robot configuration before optimization. The results show that theproposed optimal design method improves the velocity transmission performance of the parallel mechanism, and it can beextended and applied to the optimal design of other robots.

Key words： passive higher kinematic pair optimal design redundant actuation parallel robot

收稿日期: 2020-09-06 录用日期: 2021-03-31

TP242.3

基金资助:国家自然科学基金青年基金（51705063）；江苏省自然科学基金（BK20190368）

通讯作者: 张志胜,oldbc@seu.edu.cn E-mail: oldbc@seu.edu.cn

作者简介: 温海营(1987-),男,博士,讲师.研究领域:仿生机器人,并联机器人.
戴敏(1977-),女,博士,副教授.研究领域:微机控制及自动化技术.
张慧(1987-),女,博士,助理研究员.研究领域:机械电子,软体机器人.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.200357 或 https://robot.sia.cn/CN/Y2021/V43/I6/694

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