本文選題：移動(dòng)并聯(lián)機(jī)器人 + Pa~2運(yùn)動(dòng)副　； 參考：《天津科技大學(xué)》2017年碩士論文

【摘要】：并聯(lián)機(jī)器人以其負(fù)載高、精度高以及剛度好等一系列優(yōu)點(diǎn)獲得了人們?cè)絹?lái)越多的關(guān)注,也成為各國(guó)學(xué)者研究的前沿課題。但是,并聯(lián)機(jī)構(gòu)的型綜合問(wèn)題始終沒(méi)有得到很好的解決,特別地,低自由度并聯(lián)機(jī)構(gòu)的機(jī)型綜合仍然是并聯(lián)機(jī)器人研究領(lǐng)域的熱點(diǎn)問(wèn)題。低自由度并聯(lián)機(jī)構(gòu),尤其是能夠生成平移運(yùn)動(dòng)的并聯(lián)機(jī)構(gòu),在工業(yè)生產(chǎn)中有著重要的應(yīng)用價(jià)值。通過(guò)借助于位移子群綜合法,本文提出了兩類基于Pa2運(yùn)動(dòng)副的移動(dòng)并聯(lián)機(jī)器人,并且對(duì)他們進(jìn)行了綜合分析(自由度分析與機(jī)構(gòu)學(xué)分析)。廣義運(yùn)動(dòng)副Pa2是平行四桿機(jī)構(gòu)的衍生機(jī)構(gòu),它不僅具有能夠提供2自由度平移運(yùn)動(dòng)的能力,還可以作為被動(dòng)自由度生成平移運(yùn)動(dòng)。與應(yīng)用被動(dòng)的移動(dòng)副相比,在生成平移運(yùn)動(dòng)上,Pa2更有優(yōu)勢(shì),那是因?yàn)楦?dòng)的移動(dòng)副很難產(chǎn)生穩(wěn)定的平移運(yùn)動(dòng)。而且,Pa2的數(shù)學(xué)模型可以直接應(yīng)用在此類并聯(lián)機(jī)構(gòu)的分析中。應(yīng)用空間封閉向量的方法,本文成功地解決了 3-PPa2并聯(lián)機(jī)器人的正、逆運(yùn)動(dòng)學(xué)問(wèn)題,并得到了正、逆運(yùn)動(dòng)學(xué)解的個(gè)數(shù)。在求解正逆運(yùn)動(dòng)學(xué)的過(guò)程中,得到了 3-PPa2的工作空間,是由空間三個(gè)圓柱所圍成的空間幾何體。同時(shí),論文分析解決了 3-PPa2的速度問(wèn)題,得到了機(jī)構(gòu)的速度方程,并由此定義了三類雅克比矩陣:正運(yùn)動(dòng)學(xué)雅克比矩陣、逆運(yùn)動(dòng)學(xué)雅克比矩陣和增加運(yùn)動(dòng)性雅克比矩陣。通過(guò)對(duì)雅克比矩陣的分析,論文研究了 3-PPa2并聯(lián)機(jī)器人的三種奇異位形:正運(yùn)動(dòng)學(xué)奇異、逆運(yùn)動(dòng)學(xué)奇異和增加運(yùn)動(dòng)性的奇異位形。其中,逆運(yùn)動(dòng)學(xué)奇異位形最簡(jiǎn)單,它是末端執(zhí)行器處于工作空間的內(nèi)外邊界時(shí)所發(fā)生的一種奇異狀態(tài)。通過(guò)分析,3-PPa2的正運(yùn)動(dòng)學(xué)奇異相當(dāng)復(fù)雜,很難用一個(gè)奇異曲面來(lái)表示所有的奇異位形。但是,本文得到了 3-PPa2在一些特殊位置時(shí)發(fā)生奇異的狀態(tài),并得到了相應(yīng)的奇異面。本文首次分析了支鏈中含有復(fù)雜閉鏈的并聯(lián)機(jī)構(gòu),表明了廣義副Pa2在并聯(lián)機(jī)構(gòu)的型綜合中具有較大的應(yīng)用前景,拓展了可用于合成并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)副類型。文中提出的3-PPa2機(jī)構(gòu)不僅結(jié)構(gòu)緊湊,而且有著簡(jiǎn)潔的運(yùn)動(dòng)學(xué)解。3-PPa2的出現(xiàn)豐富了并聯(lián)機(jī)構(gòu)的機(jī)型種類,進(jìn)一步完善了并聯(lián)機(jī)器人相關(guān)的理論知識(shí)。
[Abstract]:Parallel robot has attracted more and more attention because of its high load, high precision and good stiffness. However, the problem of type synthesis of parallel mechanism has not been well solved, especially, the model synthesis of low degree of freedom parallel mechanism is still a hot issue in the field of parallel robot research. The low degree of freedom parallel mechanism, especially the parallel mechanism which can generate translation motion, has important application value in industrial production. By means of displacement subgroup synthesis method, two kinds of mobile parallel manipulators based on Pa2 kinematic pair are proposed in this paper, and they are analyzed synthetically (degree of freedom analysis and mechanism analysis). The generalized kinematic pair Pa2 is a derivative mechanism of parallel four-bar mechanism. It not only can provide 2-DOF translation motion, but also can be used as passive freedom to generate translation motion. Compared with the passive pair, Pa2 has more advantages in generating the translational motion because it is difficult for the floating pair to produce a stable translational motion. Moreover, the mathematical model of Pa2 can be directly applied to the analysis of this kind of parallel mechanism. Using the method of closed space vector, this paper successfully solves the forward and inverse kinematics problems of 3-PPa2 parallel manipulators, and obtains the number of forward and inverse kinematics solutions. In the process of solving forward and inverse kinematics, the workspace of 3-PPa2 is obtained, which is a spatial geometry formed by three cylinders of space. At the same time, the velocity problem of 3-PPa2 is analyzed and solved, the velocity equation of mechanism is obtained, and three kinds of Jacobian matrices are defined: positive kinematics Jacobian matrix, inverse kinematics Jacobian matrix and adding kinematic Jacobian matrix. Based on the analysis of Jacobian matrix, three singular configurations of 3-PPa2 parallel manipulators are studied: positive kinematics singularity, inverse kinematics singularity and kinematic singular configuration. The inverse kinematics singular configuration is the simplest one. It is a kind of singular state when the end actuator is in the inner and outer boundary of the workspace. By analyzing the positive kinematic singularities of 3-PPa2, it is very difficult to express all singular configurations with one singular surface. However, in this paper, we obtain the singular states of 3-PPa2 in some special positions, and obtain the corresponding singular surfaces. In this paper, the parallel mechanism with complex closed chain in the branch chain is analyzed for the first time. It is shown that the generalized pair Pa2 has a great application prospect in the type synthesis of the parallel mechanism, and extends the type of kinematic pair that can be used to synthesize the parallel mechanism. The proposed 3-PPa2 mechanism is not only compact in structure but also has a concise kinematics solution. The appearance of .3-PPa2 enriches the types of parallel mechanisms and further improves the relevant theoretical knowledge of parallel manipulators.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242;TH112

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