摘要
由于当前3-UPU冗余驱动并联机构存在奇异缺陷,造成冗余支链选择方法可靠性低、刚度分布不均。提出一种新的3-UPU冗余驱动并联机构冗余支链优选方法。设计了3-UPU冗余驱动并联机构和自由度要求。将运动平台位姿参数看作变量,求出3-UPU冗余驱动并联机构的力矩阵和力矩矩阵。获取3-UPU冗余驱动并联机构输入,通过位置方程求出驱动螺旋参数和非冗余支链的驱动螺旋,提升可靠性。计算冗余驱动螺旋的参数,获取条件数机构的相关信息,确定刚度矩阵的力矩阵和力矩矩阵,利用灵巧度与刚度获取条件数和刚度最佳的冗余支链,解决刚度分布不均的问题。实验结果表明：所提方法可靠性高、刚度分布均匀。
Because the current 3-UPU redundant actuation parallel mechanism has singular defects, the redundant branch chain selection method has low reliability and uneven distribution of inflexibility. A new redundant branch chain optimization method of 3-UPU redundant actuation parallel mechanism was proposed. The 3-UPU redundant actuation parallel mechanism and the requirement of freedom degree were designed. The pose parameters of the moving platform were regarded as variables. The force matrix and the torque matrix of 3-UPU redundant actuation parallel mechanism were obtained. The input of 3-UPU redundant actuation parallel mechanism was obtained. The driving screw parameter and the driving screw of non redundant branch chain were obtained by the position equa- tion, so as to improve the reliability. The parameters of redundant actuation spiral were calculated to get the relat- ed information of condition number mechanism, and then the force matrix and torque matrix of stiffness matrix were determined. Finally, the dexterity and stiffness were used to obtain the redundant branch chain which has the optimal condition number and stiffness, so as to solve the problem of uneven distribution of stiffness. Experi- mental result shows that the proposed method has high reliability and uniform stiffness distribution.
作者
刘艳敏
刘东升
李浩宇
Yan-min LIU Dong-sheng LIU Hao-yu LI(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China College of Mechanical Engineering, HebeiVocationa＆ Technical College of Builsing Materials, Hebei Qinhuangdao 066004, China Northeast Petroleum University Qinhuangdao Branch, Hebei Qinhuangdao 066004, China)
出处
《机床与液压》
北大核心
2017年第18期63-69,74,共8页
Machine Tool & Hydraulics
基金
Qinhuangdao science and technology support plan project(No.201602A030)
关键词
3-UPU
冗余驱动
并联机构
冗余支链
优选
3-UPU, Redundant actuation, Parallel mechanism, Redundant branch chain, Optimization
作者简介
Corresponding author： Yan-min LIU, Doctor. E-mail： 107132716@ qq. com
