旋转型与直线型Delta机器人全空间工作特性研究

于今; 胡博; 刘骏豪; 刘富樯

doi:10.16578/j.issn.1004.2539.2020.02.001

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旋转型与直线型Delta机器人全空间工作特性研究

理论研究 | 更新时间：2022-10-25

- 旋转型与直线型Delta机器人全空间工作特性研究
- Research of the Global Space Work Characteristic of Linear Delta Robot Versus Rotational Delta Robot
- 机械传动 2020年44卷第2期页码：1-8
- 作者机构：
  
  1.重庆大学机械工程学院，重庆 400044
  2.重庆大学机械传动国家重点实验室，重庆 400044
- 作者简介：
  
  于今（1963— ），男，贵州安顺人，硕士，副教授，研究领域为并联机器人机构学及控制策略。
  胡博（1993— ），男，重庆人，硕士研究生，研究领域为Delta机器人动力学分析。
- 基金信息：
  
  国家自然科学基金青年项目(51709023)
- DOI：10.16578/j.issn.1004.2539.2020.02.001
  中图分类号：
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于今,胡博,刘骏豪等.旋转型与直线型Delta机器人全空间工作特性研究[J].机械传动,2020,44(02):1-8.

Yu Jin,Hu Bo,Liu Junhao,et al.Research of the Global Space Work Characteristic of Linear Delta Robot Versus Rotational Delta Robot[J].Journal of Mechanical Transmission,2020,44(02):1-8.
于今,胡博,刘骏豪等.旋转型与直线型Delta机器人全空间工作特性研究[J].机械传动,2020,44(02):1-8. DOI： 10.16578/j.issn.1004.2539.2020.02.001.

Yu Jin,Hu Bo,Liu Junhao,et al.Research of the Global Space Work Characteristic of Linear Delta Robot Versus Rotational Delta Robot[J].Journal of Mechanical Transmission,2020,44(02):1-8. DOI： 10.16578/j.issn.1004.2539.2020.02.001.

摘要

研究可达空间工作特性是Delta机器人设计的一项重要任务。利用闭环矢量方程推导了直线驱动型Delta机器人和旋转驱动型Delta机器人的位置逆解，通过运动学分析得出雅可比矩阵的向量表达方式，建立刚度指标和综合灵巧度指标，得出刚度指标与运动支链传动角的函数关系并验证，可以实现通过传动角的变化规律来判断刚度性能变化。基于可达空间和雅可比矩阵，通过Matlab仿真获得了两种Delta机器人全可达空间的刚度特性和灵巧度特性，并对两者不同性能的原因进行深入探究。结果表明，在可达空间体积近似的情况下，直线驱动型Delta机器人的刚度性能更好，而旋转驱动型在运动性能方面更为优秀。

Abstract

It is significant for Delta robot design to research on the work characteristics of the whole reachable workspace. The closed-loop vector equation is taken to solve the inverse kinematics of Delta robots， and vector expression of Jacobian matrix is deduced， the global stiffness index and the global dexterity index is established. The relationship between stiffness index and transmission angles of branched chains is obtained and verified， which make it possible to predict the stiffness performance by transmission angles. On the basis of the workspace and Jacobian matrix， the global stiffness index and the global dexterity index in the whole reachable workspace of two Delta robots with different configurations is obtained by Matlab， and the mechanism of the work characteristics difference between two kinds of Delta robots is researched. The conclusion shows that with the similar volume of reachable workspace， the stiffness of the linear Delta robot is superior to the rotational Delta robot， while the kinematics performance of the rotational Delta robot is better.

关键词

Delta机器人雅可比矩阵刚度特性灵巧度特性

Keywords

Delta robotJacobian matrixStiffness characteristicDexterity characteristic

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