冗余驱动支链实现空间6自由度并联机构刚度设计理论

张双双; 杨洪涛; 刘齐更

doi:10.16578/j.issn.1004.2539.2019.05.008

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冗余驱动支链实现空间6自由度并联机构刚度设计理论

设计计算 | 更新时间：2022-10-03

- 冗余驱动支链实现空间6自由度并联机构刚度设计理论
- Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism
- 机械传动 2019年43卷第5期页码：38-43
- 作者机构：
  
  1.安徽理工大学机械工程学院，安徽淮南 232001
- 作者简介：
  
  张双双（1986— ），女，山东德州人，硕士研究生，讲师，研究方向为机器人结构设计。
- 基金信息：
  
  国家自然科学基金(51675004);安徽理工大学青年基金(QN201626)
- DOI：10.16578/j.issn.1004.2539.2019.05.008
  中图分类号：
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张双双,杨洪涛,刘齐更.冗余驱动支链实现空间6自由度并联机构刚度设计理论[J].机械传动,2019,43(05):38-43.

Zhang Shuangshuang,Yang Hongtao,Liu Qigeng.Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(05):38-43.
张双双,杨洪涛,刘齐更.冗余驱动支链实现空间6自由度并联机构刚度设计理论[J].机械传动,2019,43(05):38-43. DOI： 10.16578/j.issn.1004.2539.2019.05.008.

Zhang Shuangshuang,Yang Hongtao,Liu Qigeng.Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(05):38-43. DOI： 10.16578/j.issn.1004.2539.2019.05.008.

摘要

机构的末端刚度特性对制造装备的定位精度、顺应性和动态特性等有十分重要的影响，为了消除机构奇异位形，使机构具有更大的承载能力、更高的刚度和精度、更好的动态特性等，常需要可控的机构刚度来满足不同的需要；在全自由度并联机构的基础上，分析通过增加冗余驱动支链实现末端刚度需求的设计方法。根据螺旋理论分析了支链单驱动副并联机构的逆雅克比矩阵，建立了驱动刚度到末端刚度的映射关系矩阵，分析了各支链刚度到机构末端刚度分量的叠加规律，并根据末端刚度需求建立了一种通过增加冗余驱动支链实现末端刚度要求的方法；最后通过Stewart并联机构案例对上述理论进行了验证，实现了末端刚度接矩阵解耦的设计要求。

Abstract

The end stiffness characteristic of the mechanism has great influence on its positioning accuracy， compliance character and dynamic properties. In order to eliminate the configuration singularity， as well as to enhance its stiffness and accuracy， better dynamic property， a controllable stiffness of the mechanism is often required to satisfy different situations. On basis of full degree of freedom parallel mechanism， the design method by adding redundant actuated limbs to realize the end stiffness requirement is analyzed. According to screw theory， the inverse Jacobian matrix of parallel mechanism with limb single drive is analyzed， the mapping relationship matrix from the actuation to the end-effector stiffness is established. Then， the superposition rule of stiffness of each limb to the end stiffness component of the mechanism is analyzed. According to the end stiffness requirement， a stiffness synthesis method by adding redundant-actuated limbs to realize the end stiffness requirement is established. Finally， the Stewart parallel platform is adopted to verify this synthesis method， the design requirement of the end stiffness matrix decoupling is realized.

关键词

刚度综合冗余驱动并联机构刚度分解

Keywords

Stiffness synthesisRedundant actuationParallel mechanismStiffness decomposition

references

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张彦斐，宫金良，李为民，等，一种6自由度冗余驱动并联机器人运动学分析及仿真［J］. 机械工程学报， 2006， 41（8）：144-148.

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