摘要
本研究提出了一种四自由度并联机器人机构模型,具备几何对称、简单运动学特性以及可在直线导轨上无限扩展的平移工作空间。采用投影法进行对并联机器人的位移进行分析,采用闭环向量法分析并联机器人的瞬时运动学特性。在雅可比矩阵的基础上,研究了并联机器人各个典型构型。此外,对带偏置角的并联机器人局部奇异特性进行了分析。基于工作空间分析,建立了以机构最大占用面积为目标函数的优化模型,提出了优化模型的遗传算法,对并联机器人的结构参数进行了优化,实现了并联机器人可达的最大工作空间。
This study proposes a four degree of freedom parallel robot mechanism model with geometric symmetry,simple kinematic characteristics,and infinitely expandable translational workspace on linear guides.The projection method is used to analyze the displacement of the parallel robot,and the closed-loop vector method is used to analyze the instantaneous kinematic characteristics of the parallel robot.Based on the Jacobian matrix,various typical configurations of parallel robots were studied.In addition,the local singularity characteristics of parallel robots with offset angles were analyzed.Based on workspace analysis,an optimization model with the maximum occupied area of the mechanism as the objective function was established.A genetic algorithm for the optimization model was proposed to optimize the structural parameters of the parallel robot,achieving the maximum workspace that the parallel robot can reach.
作者
张家祥
刘明东
ZHANG Jiaxiang;LI Mingdong(Zhengzhou Railway Vocational&Technical College,He’nan Zhengzhou 450002,China;School of Mechanical and Electrical Engineering,He’nan University of Science and Technology,He’nan Luoyang 471000,China)
出处
《机械设计与制造》
北大核心
2025年第3期267-273,共7页
Machinery Design & Manufacture
基金
2021年河南省高等学校重点科研项目(21A880019)—新时代高职教师信息化素养培育体系构建研究。
关键词
并联机器人
四自由度
运动特性
特性优化
Parallel Robot
Four Degrees of Freedom
Motion Characteristics
Characteristic Optimization
作者简介
张家祥,(1979-),男,河南周口人,本科,副教授,主要研究方向:电气工程及其自动化。
