-
摘要:
并联机器人的刚度与静力学分析, 对于机构力学性能研究具有重要的理论价值和意义. 本文围绕杆支撑、绳牵引和钢带传动 3 种结构形式, 详细阐述了国内外并联机构刚度和静力学分析的研究现状. 着重从有限元、解析模型和性能分析 3 方面分析了杆支撑并联机构的刚度研究进展. 讨论了有关绳牵引并联机构中绳拉力、动载荷频率、绳牵引预紧力与刚度、静力学之间关系的研究成果. 根据钢带并联机器人结构的特殊性, 对钢带并联机构的刚度与静力学分析中可能遇到的失稳与振动问题进行了探讨. 最后, 对并联机器人技术发展情况进行总结与展望, 指出随着刚度分析与静力学分析的不断深入, 并联机器人的力学理论将会日趋成熟和完善, 为并联机器人机构优化设计提供更深入、系统的理论依据.
Abstract:It is of much significance to analyze the stiffness and statics of parallel robots for the study ontheir mechanical properties. The development of stiffness and static analysis of parallel robots in domestic andforeign countries were illustrated in detail via three kinds of structures, i.e. rod-support, wire-driven and steelband driven parallel robots. The progress in stiffness analysis of rod-support parallel mechanism was presentedin terms of three different methods: finite element, analytical modeling and performance analysis. The resultsof the relation between wire tension, frequency of dynamic loads, wire pre-tightening force and the stiffnessand statics of wire-driven parallel mechanism were discussed. According to the specific structure of steel banddriven parallel robots, the problems about instablity and vibration were discussed which may be encountered inanalyzing the stiffness and statics of steel band parallel mechanism. Finally, the development of parallel robotswas summarized, and the prospect was predicted that the mechanics theory of parallel robots will becomeincreasingly matured and perfect, while the stiffness and statics analysis will witness in-depth development.The mechanics theory will provide systematic theoretical basis for the optimization design of parallel robotmechanism.
-
Key words:
- parallel robot /
- stiffness /
- static analysis /
- rod-support /
- wire-driven
-
1 艾青林, 计时鸣, 金明生, 等. 一种六自由度钢带并联机器人机构. 中国专利, ZL 200610049643.0. 2008-1-9 2 Lou Y J, Zhang D J, Li Z X. Optimal design of a parallel machine based on multiple criteria. In: Proceedings of IEEE International Conference on Robotics and Automa-tion, Barcelona, Spain, 2005-04-18-22. New York: IEEE,2005. 3219-3224 3 罗继曼, 蔡光起, 李景奎. 基于ANSYS的新型3-TPS并联机床静刚度分析. 沈阳建筑大学学报(自然科学版), 2006,22(2): 341-344 4 Corradini C, Fauroux J C, Krut S, et al. Evaluation of a 4 degree of freedom parallel manipulator stiffness. In: Huang Tian, ed. Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, 2004-04-01-04. Beijing, China: China Machine Press, 2004.1857-1861 5 Company O, Pierrot F, Fauroux J C. A method for model-ing analytical stiffness of a lower mobility parallel manip-ulator. In: Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005-04-18-22. New York: IEEE, 2005. 3232-3237 6 李育文, 张华, 杨建新, 等. 6-UPS 并联机床静刚度的有限元分析和实验研究. 中国机械工程, 2004, 15(2): 112-115 7 刘红军, 姜春英, 房立金, 等. 并联刨床刚度分析及实验研究. 机器人, 2006, 28(1): 10-24 8 陈光伟, 王君英. 新型并联机床静刚度特性的有限元分析及优化设计. 机械设计与制造, 2006, 12: 4-6 9 吴镇, Grigore Gogu, 于蒙. 并行机器人结构刚度有限元数值模拟. 武汉理工大学学报(交通科学与工程版), 2006, 30(4):583-586 10 Li Y M, Xu Q S. Stiffness and statics analysis of a compact3-PRC parallel micromanipulator for micro/nano scale-manipulation. In: IEEE. Proceedings of 2007 IEEE Inter-national Conference on Robotics and Biomimetics, Sanya, China, 2007-11-15-18. NJ, USA: IEEE, 2007. 59-64 11 Xu Q S, Li Y M. Statics and dynamics performance evaluation for a high precision XYZ compliant parallel micro-manipulator. In: IEEE. Proceedings of 2007 IEEE International Conference on Robotics and Biomimetics, Sanya, China, 2007-11-15-18. NJ, USA: IEEE, 2007. 65-70 12 Cho W, Tesar D, Freeman R A. The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation. In: IEEE. Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, USA, 1989-05-14-19. Washington DC: IEEE Comput. Soc. Press, 1989. 1380-1387 13 Lee K M, Johnson R. Static characteristics of a inparallel actuated manipulator for clamping and bracing application. IEEE Internal Conference on Robotics Automat,1989, 3(14): 408-413 14 Gosselin C M. Stiffness mapping for parallel manipulator. IEEE Transactions on Robotics and Automation, 1990,6(3): 377-382 15 Chakarov D. Study of the antagonistic stiffness of parallel manipulators with actuation redundancy. Mechanism and Machine Theory, 2004, 39(6): 583-601 16 Dong W, Du Z J, Sun L N. Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace. In: IEEE. Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alta. Canada, 2005-08-02-06. NJ, USA: IEEE, 2005, 856-861 17 Pham H H, Chen I M. Stiffness modeling of flexure parallel mechanism. Precision Engineering, 2005, 29(4): 467-478 18 韩书葵, 方跃法, 槐创锋. 四自由度并联机器人刚度分析. 机械工程学报, 2006, 42: 31-34 19 Stewart D. A platform with six degrees of freedom. Pro-ceedings of the Institution of Mechanical Engineers, 1965,180(1): 371-386 20 El-Khasawneh B S, Ferreira P M. Computation of stiff-ness and stiffness bounds for parallel link manipulators. International Journal of Machine Tools & Manufacture,1999, 39(2): 321-342 21 陈俊, 王立平, 张华, 等. 平面二自由度并联构型静刚度分析和设计. 机械工程学报, 2005, 41(7): 158-163 22 吕亚楠, 王立平, 关立文. 基于刚度组集的混联机床的静刚度分析与优化. 清华大学学报(自然科学版), 2008, 48(2):180-183 23 Lu Y, Hu B, Yu J. Analysis of stiffness and elastic de-formation for a four degree of freedom 4SPS+SP parallel manipulator with a SP passive constrained leg. Journal of Multi-body Dynamics, 2009, 223(1): 73-81 24 Han X G, Cui X L, Chen W Y. Analysis on the instanta-neous stiffness of the 3-RPS parallel machine. Key Engi-neering Materials, 2009, 407: 63-70 25 王友渔, 黄田, Chetwynd D G, 等. Tricept 机械手静刚度解析建模方法. 机械工程学报, 2008, 44(8): 13-19 26 汪满新, 王攀峰, 宋轶民, 等. 四自由度混联机器人静刚度分析. 机械工程学报, 2011, 47(15): 9-16 27 Yoon W K, Suehiro T, Tsumaki Y C, et al. Stiffness analysis and design of a compact modified Delta parallel mechanism. Robotica, 2004, 22(4): 463-475 28 张建军, 高峰, 陈玉龙, 等. 基于压电陶瓷驱动的并联微动机器人静力学及其微动平台的静刚度分析. 机械工程学报,2004, 40(11): 82-87 29 荣伟彬, 王乐锋, 孙立宁. 3-PPSR 并联微动机器人静刚度分析. 机械工程学报, 2008, 44(1): 13-18, 24 30 Liu X J, Wang J S, Gao F, et al. On the design of 6-DOF parallel micro-motion manipulators. In: Proceeding of the 2001 IEEE/RSJ International Conference on Intel-ligent Robots and Systems. Maui, Hawaii, USA, 2001 31 孙立宁, 董为, 杜志江. 基于大行程柔性铰链的并联机器人刚度分析. 机械工程学报, 2005, 41(8): 90-95 32 孙立宁, 董为, 杜志江. 基于几何非线性方法的大行程柔性并联机器人位置解. 机械工程学报, 2005, 41(10): 71-74 33 白志富, 陈五一. 球铰刚度计算模型及靠冗余支链实现并联机床刚度的改善. 机械工程学报, 2006, 42(10): 142-146 34 Carbone G, Ceccarelli M. A stiffness analysis for a hybrid parallel-serial manipulator. Robotica, 2004, 22: 567-576 35 Tsai L W, Joshi S. Comparison study of architecture of four 3-degree-of-freedom translational parallel manipula-tors. In: IEEE Robotics & Automation Society. Proceed-ings of the 2001 IEEE International Conference on Robots and Automation, Seoul, South Korea, 2001-05-21-26. NJ, USA: IEEE, 2001. 1283-1288 36 周玉林, 高峰. 2-RRR+RRS球面并联机构的静刚度分析. 机械设计与研究, 2008, 24(4): 35-40 37 周玉林, 高峰. 3-RRR 三自由度球面并联机构静刚度分析. 机械工程学报, 2009, 45(4): 25-32 38 周玉林, 高峰. 3-RRS球面并联机构的静刚度分析. 中国机械工程, 2008, 19(17): 2017-2023 39 Wu J, Wang J S, Wang L P, et al. Dexterity and stiff-ness analysis of a three degree of freedom planar parallel manipulator with actuation redundancy. Journal of Me-chanical Engineering Science, 2007, 221(8): 961-969 40 魏轩, 吴军. 3-RRR 平面并联机构刚度分析. 机械设计与制造, 2009, 9: 179-180 41 张华, 李育文, 王立平, 等. 龙门式混联机床的静刚度分析. 清华大学学报(自然科学版), 2004, 44(2): 182-185 42 Huang T, Zhao X Y, Whitehouse D J. stiffness estima-tion of a tripod-based parallel kinematic machine. IEEE Transactions on Robotics and Automation, 2002, 18(1):50-58 43 Bashar S E, Placid M F. Computation of stiffness and stiffness bounds for parallel link manipulators. Interna-tional Journal of Machine Tools and Manufacture, 1999,39: 321-342 44 张立杰, 刘颖, 黄真. 平面二自由度驱动冗余并联机器人的性能分析. 机械工程学报, 2006, 42(7): 181-185 45 Xu M, Birchmeier J R. Dynamic stiffness testing and its applications to machine tools. Sound and Vibration, 1997,31(6): 14-23 46 陈吉清, 兰凤崇. Stewart并联机床瞬时刚度分析与应用. 南京理工大学学报, 2007, 31(4): 482-483 47 敖银辉, 陈新, 温兆麟. 平面并联机构刚度与动力学指标分析. 中国机械工程, 2004, 15(18): 1607-1609 48 梁辉, 白志富, 陈五一. 具有内力的3PRS/UPS冗余并联机床刚度分析. 机械设计, 2007, 24(1): 23-25 49 Pashkevich A, Wenger P, Chablat D. Kinematic and stiff-ness analysis of the Orthoglide, a PKM with simple, regu-lar workspace and homogeneous performances. In: IEEE Robotics and Automation Society. Proceedings of 2007 IEEE International Conference on Robotics and Automa-tion, Roma, Italy, 2007-04-10-14. NJ, USA: IEEE, 2007.549-554 50 Pham C B, Yeo S H, Yang G. Workspace analysis and op-timal design of cable-driven planar parallel manipulators. In: Proceedings of 2004 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 2004-11-01-03. NJ, USA: IEEE, 2005. 219-224 51 李辉, 朱文白. 柔索牵引并联机构的静刚度分析机械工程学报, 2010, 46(3): 8-16 52 胡龙, 郑亚青. 低速风洞绳牵引并联支撑系统的静刚度分析. 厦门理工学院学报, 2008, 16: 22-26 53 刘欣, 仇原鹰, 盛英. 风洞试验绳牵引冗余并联机器人的刚度增强与运动控制. 航空学报, 2009, 30(6): 1156-1164 54 刘欣, 仇原鹰, 盛英. 绳牵引并联机器人的静刚度解析. 机械工程学报, 2011, 47(13): 35-43 55 汤奥斐, 仇原鹰, 段宝岩, 等. 一种柔索并联机器人的刚度解析. 中国机械工程, 2006, 17: 345-349 56 Tang A F, Qiu Y Y, Duan B Y. Analysis of reachable workspace of a wire driven parallel robot and its stiffness estimation. Journal of Xidian University, 2006, 33(5):730-733 57 王克义, 孟浩, 张立勋, 等. 平面绳索牵引并联机器人静态刚度. 哈尔滨工程大学学报, 2011, 32(9): 1112-1116 58 Sui C P, Zhao M Y. Statics and stiffness study on a 3-DOF parallel wire driven flexible manipulator. Chinese Journal of Mechanical Engineering, 2006, 42(6): 205-214 59 Choe W, Kino H, Katsuta K, et al. A design of parallel wire driven robots for ultrahigh speed motion based on stiffness analysis. In: Proceedings of the Japan-USA Symposium on Flexible Automation, 1996, 1: 159-166 60 苏先义. 六自由度钢带并联机器人失稳有限元分析: [硕士论文]. 浙江: 浙江工业大学, 2009. 43-64 61 黄真, 赵永生, 赵铁石. 高等空间机构学. 北京: 高等教育出版社, 2006. 1-87 62 黄真, 孔令富, 方跃法. 并联机器人机构学理论及控制. 北京: 机械工业出版社, 1997. 65-99 63 吴培栋, 吴昌林, 余联庆. 3/6-SPS 并联机器人的奇异位形及瞬时运动分析. 华中科技大学学报(自然科学版), 2008,36(5): 78-81 64 Han X G, Cui X L, Chen W Y. Analysis on the instanta-neous stiffness of the 3-RPS parallel machine. Key Engi-neering Materials, 2009, 407: 63-70 65 Li Y G, Song T M, Huang T, et al. Static force analysis of lower-mobility parallel manipulators. Chinese Journal of Mechanical Engineering, 2007, 43(9): 80-83 66 李永刚, 宋轶民, 黄田, 等. 少自由度并联机器人机构的静力分析. 机械工程学报, 2007, 43(9): 80-83 67 朱春霞, 朱立达, 蔡光起. 基于有限元的并联机床整机静力特性分析. 机械制造, 2007, 45(509): 4-6 68 赵云峰, 程丽, 赵永生. 3-UPS/S 并联机构运动学分析及机构优化设计. 机械设计, 2009, 26(1): 46-49 69 Hu B, Lu Y. New approach for analyzing the stiffness of3-RPS parallel manipulator. Journal of Mechanical Engi-neering, 2010, 46(1): 24-29 70 Lu Y, Hu B, Yu J. Analyses of the stiffness and elastic de-formation of a 2(3-SPR) serial-parallel manipulator. Jour-nal of Multi-body Dynamics, 2009, 223(3): 189-198 71 Hu B, Lu Y, Xu J Y. Stiffness and singularity analysis of2SPS+2RPS parallel manipulator by using different meth-ods. In: Xie M, ed. Proceedings of the 2nd International Conference on Intelligent Robotics and Applications, Sin-gapore, 2009-11-16-18. Berlin, Germany: Springer-Verlag Berlin, 2009. 632-644 72 Monsarrat B, Gosselin C M. Singularity analysis of a three leg six degree of freedom parallel platform mechanism based on grassmann line geometry. International Jour-nal of Robotics Research, 2001, 20(4): 312-326 73 于凌涛, 张楠, 张立勋, 等. 3-RPS并联机器人静力学研究及Sim Mechanics仿真. 哈尔滨工程大学学报, 2010, 31(8):1061-1064,1066 74 杨启志, 马履中, 谢俊, 等. 三平移全柔性并联微动机器人机构静力学分析. 农业机械学报, 2007, 38(11): 110-113 75 Russo A, Sinatra R, Xi F F. Static balancing of paral-lel robots. Mechanism and Machine Theory, 2005, 40(2):191-202 76 Gosselin C M, Wang J G. Static balancing of spatial six degree of freedom parallel mechanisms with revolute actu-ators. Journal of Robotic Systems, 2000, 17(3): 159-170 77 周玉林, 刘磊, 高峰. 三自由度球面并联机构3-RRR静力全解. 机械工程学报, 2008, 44(6): 169-176 78 孟祥志, 王艳, 蔡光起. 一种三杆并联机床的静力分析. 中国机械工程, 2004, 15(14): 1231-1235 79 Li Y B, Ji S M, Yuan Q L, et al. Torque transmission anal-ysis and design of a 3-DOF spherical parallel manipulator. Advanced Materials Research, 2009, 69: 575-579 80 Lu Y, Hu B, Shi Y. Kinematics analysis and statics of a2SPS+UPR parallel manipulator. Mutibody System Dy-namics, 2007, 18(4): 619-636 81 Lu Y, Shi Y, Li S H, et al. Synthesis and analysis of kine-matics/statics of a novel 2S(P)under-barS+S(P)under-barR+SP parallel manipulator. Journal of Mechanical Design, 2008, 130(9): 21-28 82 Peng B B, Gao F. Force analysis of a novel 5-DOF fully parallel manipulator. In: Batra R C, ed. Proceedings of the 2007 International Conference on Mechanical Engi-neering and Mechanics, Wuxi, China, 2007-11-05-07. NJ, USA: Science Press USA INC, 2007. 683-688 83 金振林, 赵现朝, 范文刚. 新型正交并联机器人静力学分析. 燕山大学学报, 2002, 26(4): 308-311 84 Zhang D F, Gao F. Static analysis for a novel 6-(P-2P-S) parallel robot. Ultra-Precision Machining Technologies,2009, 69-70: 580-584 85 Raghavan M, Roth B. On the design of manipulators for applying wrenches. In: IEEE. Proceedings of the 1989 IEEE International Conference on Robotics and Automa-tion, Scottsdale AZ, USA, 1989-05-14-19. NJ, USA: IEEE,1989. 438-443 86 Wu C, Liu X J, Wang J S. Force transmission analysis of spherical 5R parallel manipulators. In: IEEE. Pro-ceedings of 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, London, UK, 2009-06-22-24. NJ, USA:IEEE, 2009. 331-336 87 金振林, 高峰. 新型6-PSS微操作机器人的静力分析基础研究. 机械传动, 2001, 25(2): 11-15 88 Hubert J, Merlet J P. Static of parallel manipulators and closeness to singularity. Journal of Mechanisms and Robotics, 2009, 1(1): 1-6 89 孙立宁, 于凌涛, 杜志江, 等. 6-DOF并联机器人新型力感觉系统静力学分析. 哈尔滨工业大学学报, 2004, 36(8): 1030-1033 90 Wang W, Zhang H X, Zong G H, et al. Force coopera-tion in a reconfigurable field multirobot system. Journal of Field Robotics, 2008, 25(11): 922-960 91 刘雄伟, 郑亚青. 六自由度绳牵引并联机构的运动学分析. 机械工程学报, 2002, 38: 16-20 92 姚蕊, 唐晓强, 李铁民, 等. 大型射电望远镜馈源定位3T索牵引并联机构分析与设计. 机械工程学报, 2007, 43(11):105-109 93 郑亚青, 刘雄伟. 绳牵引并联机构拉力分布优化. 机械工程学报, 2005, 41(9): 140-145 94 汪选要, 曹毅, 张文祥, 等. 绳牵引并联机构拉力分布的优化. 燕山大学学报, 2006, 30(3): 189-193 -
计量
- 文章访问数: 3293
- HTML全文浏览量: 536
- PDF下载量: 2670
- 被引次数: 0
下载:
