Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism

Pengcheng Zhang; Lubin Hang; Xiaobo Huang; Huibin Yang; Baojun Zhang; Lusheng Zhou; Junrong Chen; Ziyu Liu; Shisen Lin

doi:10.16578/j.issn.1004.2539.2021.10.009

您当前的位置：

首页 >

文章列表页 >

Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism

Design· Calculation | 更新时间：2022-11-10

- Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 10, Pages: 57-65(2021)
- 作者机构：
  
  1.上海工程技术大学机械与汽车工程学院，上海 201600
  2.国核电站运行服务技术有限公司，上海 200233
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.10.009
  CLC：
扫描看全文
章鹏程,杭鲁滨,黄晓波等.新型3T1R力触觉主端操作并联机构设计与分析[J].机械传动,2021,45(10):57-65.

Zhang Pengcheng,Hang Lubin,Huang Xiaobo,et al.Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(10):57-65.
章鹏程,杭鲁滨,黄晓波等.新型3T1R力触觉主端操作并联机构设计与分析[J].机械传动,2021,45(10):57-65. DOI： 10.16578/j.issn.1004.2539.2021.10.009.

Zhang Pengcheng,Hang Lubin,Huang Xiaobo,et al.Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(10):57-65. DOI： 10.16578/j.issn.1004.2539.2021.10.009.

摘要

具有力触觉反馈主从操作的检测装置是提升核主泵螺栓在线检测准确率、避免核辐射健康损害的有效手段。针对核主泵中空螺栓检测超声探头三平移一转动的深孔运动特征，基于方位特征集并联机构拓扑综合方法，构造了一种新型, $4 - H S O C {- R_{i 1} / / R_{i 2} (- P^{(4 R)}) / / R_{i 3} ⊥ R_{i 4} -}$ ,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=34072404&type=,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=34072399&type=,63.58466721,4.99533367,力触觉主端并联操作机构；以矢量方程法求解了该机构正逆运动学，并进行了工作空间、运动特性分析和仿真；对应从端深孔检测作业特征进行了工作空间匹配分析和实验验证。该主端力触觉并联机构具有对称折叠性和良好的动平台转动能力，适用于竖向深孔扫查作业，契合从端核主泵螺栓检测装置检测需求，为核主泵螺栓检测装置对孔、扫查任务及主从端运动匹配提供了理论基础。

Abstract

The master-slave operation detection device with force haptic feedback function is an effective method to improve the online detection accuracy of the hollow bolts of reactor coolant pump （RCP） and avoid damage to human health caused by nuclear radiation. In the light of motion characteristics of the ultrasonic testing probe for the hollow bolt detection，a new type of haptic master operation parallel mechanism （4-HSOC{-R,i,1,//R,i,2,（-P（4R））//R,i,3,⊥R,i,4,-}） is constructed by the topology synthesis method of parallel mechanism based on position and orientation characteristics （POC） set. The forward and inverse kinematics of the mechanism is solved by vector equation method，and furthermore the motion characteristics and workspace of the parallel mechanism are analyzed and simulated，the work space matching analysis and experimental verification are carried out for the characteristics of the deep hole detection operation at the end. The moving platform of the master force haptic parallel mechanism possesses symmetric folding property and good rotating ability. It is suitable for deep hole vertical scanning operation and meets the requirements of the slave bolt detection device of reactor coolant pump. It provides the theoretical basis for hole matching，scanning task and motion matching of the master-slave bolt detection device for reactor coolant pump.

关键词

中空螺栓检测力触觉装置并联机构方位特征集工作空间

Keywords

Hollow bolt detectionForce haptic deviceParallel mechanismPOC setWorkspace

references

张宝军，张国丰，严智，等.核电厂主螺栓超声自动检测技术研究与实现［J］.压力容器，2013，30（5）：64-69.

ZHANG Baojun，ZHANG Guofeng，YAN Zhi，et al.Research and implementation of ultrasonic automatic detection technology for main bolts in nuclear power plants［J］.Pressure Vessel，2013，30（5）：64-69.

杭鲁滨，马超，周路生，等.核主泵法兰螺栓在线超声检测装置及检测方法：201811301278.7［P］.2019-02-19.

HANG Lubin，MA Chao，ZHOU Lusheng，et al.The online supersonic detection device of core main pump flange bolt and detection method：201811301278.7［P］.2019-02-19.

宋爱国.力觉临场遥感操作机器人（1）：技术发展与现状［J］.山东大学学报（工学版），2017，47（3）：69-78.

SONG Aiguo.Force telepresence remote sensing robot（1）：Technology development and current situation［J］.Journal of Shandong University （Engineering Edition），2017，47（3）：69-78.

杨廷力，刘安心，沈惠平，等.基于方位特征方程的3T1R并联机构的拓扑结构综合［J］.机械工程学报，2017，53（21）：54-64.

YANG Tingli，LIU Anxin，SHEN Huiping，et al.Topological structural synthesis of 3T-1R parallel mechanism based on POC equations［J］.Journal of Mechanical Engineering，2017，53（21）：54-64.

金琼，杨廷力，刘安心，等.基于单开链单元的三平移一转动并联机器人机构型综合及分类［J］.中国机械工程，2001，12（9）：1038-1043.

JIN Qiong，YANG Tingli，LIU Anxin，et al.Structural synthesis of 4 DOF（3T1R） parallel robot mechanisms based on units of single-opened-chain［J］.Chinese Mechanical Engineering，2001，12（9）：1038-1043.

石志新，叶梅燕，罗玉峰，等.3T1R并联机构结构设计与位置分析［J］.农业机械学报，2016，47（8）：364-369.

SHI Zhixin，YE Meiyan，LUO Yufeng，et al.Structure design and displacement analysis of 3T1R parallel mechanism［J］.Transactions of the Chinese Society for Agricultural Machinery，2016，47（8）：364-369.

陈海，秦友蕾，曹毅，等.基于螺旋理论的3T1R完全解耦并联机构型综合［J］.中国机械工程，2015，26（24）：3282-3288.

CHEN Hai，QIN Youlei，CAO Yi，et al.Type synthesis of fully-decoupled 3T1R parallel mechanism based on screw theory［J］.Chinese Mechanical Engineering，2015，26（24）：3282-3288.

刘辛军，谢福贵，王立军，等.一种可实现SCARA运动的四自由度单动平台并联机构：CN201210435375.1［P］.2012-11-02．

LIU Xinjun，XIE Fugui，WANG Lijun，et al.A 4 DOF single platform parallel mechanism with SCARA motion：CN201210435375.1［P］.2012-11-02．

刘辛军，谢福贵，汪劲松，等.当前中国机构学面临的机遇［J］.机械工程学报，2015，51（13）：2-12.

LIU Xinjun，XIE Fugui，WANG Jinsong，et al.Current opportunities inthe field of mechanisms in china［J］.Journal of Mechanical Engineering，2015，51（13）：2-12.

杨廷力.机器人机构拓扑结构设计［M］.北京：机械工业出版社，2004：252-262.

YANG Tingli.Topology design of robotic mechanism［M］.Beijing：Machinery Industry Press，2004：252-262.

杨廷力，刘安心，罗玉峰，等.机器人机构结构综合方法的基本思想、特点及其发展趋势［J］.机械工程学报，2010，46（9）：1-11.

YANG Tingli，LIU Anxin，LUO Yufeng，et al.Basic principles main characteristics and development tendency of methods for robot mechanism structure synthesis［J］.Journal of Mechanical Engineering，2010，46（9）：1-11.

杨廷力.机械系统基本理论—结构学、运动学、动力学［M］.北京：机械工业出版社，1996：86-103.

YANG Tingli.Basic theory of mechanical system structure，kinematics and dynamics［M］.Beijing：China Machine Press，1996：86-103.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC

Configuration Synthesis and Kinematics Analysis of the 1R2T Parallel Mechanism in the Chinese Baijiu Box Packaging Production Line

Design and Analysis of a Cylindrical Surface Translation and a Rotational Parallel Mechanism

Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism

Related Author

No data

Related Institution

School of Advanced Manufacturing, Nanchang University

East China Jiaotong University

Nanjing Vocational Institute of Mechatronic Technology

Research Center of Modern Mechanisms, Changzhou University

Department of Mechanical and Electronic Engineering, Shanxi Engineering Vocational College

⁰