Kinematics Analysis and Verification of 3DOF-4RRRR<sup>⊥</sup> Redundant Parallel Drive Platform

Shaoxiong Zhang; Qiguang Li; Lingtao Liu; Yao Luo; Wenqiang Yue

doi:10.16578/j.issn.1004.2539.2022.05.011

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Kinematics Analysis and Verification of 3DOF-4RRRR^⊥ Redundant Parallel Drive Platform

Design· Calculation | 更新时间：2022-09-24

- Kinematics Analysis and Verification of 3DOF-4RRRR^⊥ Redundant Parallel Drive Platform
- Journal of Mechanical Transmission Vol. 46, Issue 5, Pages: 76-84(2022)
- 作者机构：
  
  1.北京信息科技大学机电工程学院，北京 100192
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.05.011
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张少雄,李启光,刘令涛等.3DOF-4RRRR^⊥冗余并联驱动平台运动学分析及验证[J].机械传动,2022,46(05):76-84.

Zhang Shaoxiong,Li Qiguang,Liu Lingtao,et al.Kinematics Analysis and Verification of 3DOF-4RRRR^⊥ Redundant Parallel Drive Platform[J].Journal of Mechanical Transmission,2022,46(05):76-84.
张少雄,李启光,刘令涛等.3DOF-4RRRR^⊥冗余并联驱动平台运动学分析及验证[J].机械传动,2022,46(05):76-84. DOI： 10.16578/j.issn.1004.2539.2022.05.011.

Zhang Shaoxiong,Li Qiguang,Liu Lingtao,et al.Kinematics Analysis and Verification of 3DOF-4RRRR^⊥ Redundant Parallel Drive Platform[J].Journal of Mechanical Transmission,2022,46(05):76-84. DOI： 10.16578/j.issn.1004.2539.2022.05.011.

摘要

针对医用手术器械臂操作范围受限的问题，提出了一种基于4RRRR,⊥,对称正交并联连杆机械臂冗余驱动的3自由度手术器械臂平台。采用矢量封闭环方法推导出平台运动学方程，并根据各杆位置约束，使用数值搜索的方法分析计算了该平台的工作空间。在此基础上，运用Matlab完成了该平台的运动学正逆解数值仿真，通过正解验证逆解算例表明，误差精度可达10,-8,数量级；同时，运用Adams进一步对平台运动学逆解进行仿真，验证了其正确性。在实体样机上进行了实验验证，实验数据表明，基于平台运动学方程控制的平台位置误差为±1 mm、姿态误差为±1°。仿真和实验表明，基于该并联机械臂驱动的机构作为手术器械臂位置调整平台，可有效拓展手术器械臂操作空间的动态调整范围；运动学方程也为该类冗余并联机构后续的动态控制方法研究提供了重要的参考依据。

Abstract

In order to solve the problem of limited operation range of medical surgical instrument arm， a three-degree-of-freedom surgical instrument arm platform based on 4RRRR,⊥, symmetrical orthogonal parallel link manipulator is proposed. The kinematic equation of the platform is derived using the vector closed loop method， and the workspace of the platform is analyzed and calculated by using the numerical search method according to the position constraints of each bar. On this basis， the numerical simulation of the forward and inverse kinematics of the platform is completed by using Matlab， and the numerical example of the forward solution shows that the error accuracy can reach the order of 10,-8,. At the same time， the inverse kinematics of the platform is further simulated by Adams to verify its correctness. Experiments are carried out on a prototype， and the experimental data shows that the position error of the platform controlled by the kinematic equation of the platform is ±1 mm and the attitude error is ±1°. Simulations and experiments show that the mechanism driven by the parallel manipulator， as the position adjustment platform of the surgical instrument arm， can effectively expand the dynamic adjustment range of the operating space of the surgical instrument arm. The kinematics equation also provides an important reference for the follow-up dynamic control method of this kind of redundant parallel mechanism.

关键词

冗余并联机构运动学分析正逆解数值仿真Adams仿真实验验证

Keywords

Redundant parallel mechanismKinematics analysisNumerical simulation of forward and inverse solutionAdams simulationExperimental verification

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Kinematics Analysis and Verification of 3DOF-4RRRR⊥ Redundant Parallel Drive Platform

DOI：10.16578/j.issn.1004.2539.2022.05.011

摘要

Abstract

关键词

Keywords

references

Kinematics Analysis and Verification of 3DOF-4RRRR^⊥ Redundant Parallel Drive Platform