一种新型三自由度力控末端执行器及其运动学和性能分析
PDF下载 (510)张 林,杨桂林,刘立涛,李建钢,柳 丽.一种新型三自由度力控末端执行器及其运动学和性能分析[J].宁波大学学报(理工版),2019,32(1):38-43.DOI:
ZHANG Lin,YANG Gui-lin,LIU Li-tao,LI Jian-gang,LIU li.A novel 3-DOF force-controlled end-effector and its kinematics and performance analysis[J].Journal of Ningbo University(Natural Science & Engineering Edition),2019,32(1):38-43.DOI:
| Title: | A novel 3-DOF force-controlled end-effector and its kinematics and performance analysis |
| 作者: | 张 林, 杨桂林, 刘立涛, 李建钢, 柳 丽 |
| Author(s): | ZHANG Lin, YANG Gui-lin, LIU Li-tao, LI Jian-gang, LIU li |
| 关键词: | 力控末端执行器; 并联机构; 自由度; 运动学; 奇异性 |
| Keywords: | force-controlled end-effector; parallel mechanism; degree of freedom; kinematics; singularity |
| 分类号: | TH112; TP24 |
| 文献标识码: | A |
| 摘要: | 提出了一种安装在工业机器人末端具有3个平动自由度的力控末端执行器, 适用于工件狭小空间处的自动化打磨抛光. 该执行器采用了3-PPaR并联机构构型, 实现了紧凑对称的结构设计. 为了提高执行器的定位精度和力控性能, 采用了3个音圈电机驱动. 首先, 通过修正的G-K公式验证了机构的自由度, 进行了机构运动学正逆解的分析; 其次, 建立了机构的雅可比矩阵, 讨论了机构的奇异性; 最后, 利用数值法分析了机构的可达工作空间. 研究成果为该执行器机构优化设计和样机研制提供了理论基础. |
| Abstract: | A three-degree-of-freedom (3-DOF) force-controlled end-effector to realize three translations is proposed. It can be attached to an industrial robot to perform force-controlled polishing task in a narrow space. A 3-PPaR parallel robot configuration is selected for achieving compact and symmetrical structure design. In order to improve high positioning accuracy and high force-controlled performance, the end-effector is driven by three voice coil motors. Firstly, the mobility of the 3-PPaR parallel mechanism is verified by the modified G-K formula, the forward and inverse solution of the mechanism is analyzed by position constraint equation. Secondly, the Jacobian matrix is employed to determine the singularity configuration of the mechanism and the workspace is analyzed by a numerical approach. This research work provides theoretical foundation for the design optimization and prototype development of the force-controlled end-effector. |
| 参考文献 /References: | [1] 杨桂林. 工业机器人运用技术[J]. 中国科学院院刊, 2015, 30(6):785-792. [2] Edwin A. Method for applying constant force with nonlinear feedback control and constant force device using same: USA, US005448146A[P]. 1995-09-09. [3] Ronald N. Active handling apparatus and method for contact tasks: USA, US20140005831[P]. 2014-01-02. [4] 赵亚平, 杨桂林, 杨巍, 等. 气电混合式机器人力控末端执行器研究[J]. 组合机床与自动化加工技术, 2016(12):103-106. [5] 黄婷, 孙立宁, 王振华, 等. 基于被动柔顺的机器人抛磨力/位混合控制方法[J]. 机器人, 2017, 39(6):776-785. [6] Ma K, Yang G. Kinematic design of a 3-DOF force-controlled end-effector module[C]//Industrial Electronics and Applications, IEEE, 2016:1084-1089. [7] Merlet J P. Parallel robots[J]. Solid Mechanics & Its Applications, 2010, 128:2091-2127. [8] Clavel R. Device for the movement and positioning of an element in space: USA, US4976582[P]. 1990-12-11. [9] Li Y, Xu Q. Kinematic analysis and design of a new 3-DOF translational parallel manipulator[J]. Journal of Mechanical Design, 2006, 128(4):729-737. [10] Zeng Q, Ehmann K F, Cao J. Tri-pyramid robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator[J]. Robotics and Computer Integrated Manufacturing, 2014, 30(6):648-657. [11] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 2版. 北京: 高等教育出版社, 2014:111-117. |
| 备注/Memo: | 收稿日期: 2018－07－17. 宁波大学学报（理工版）网址: http://journallg.nbu.edu.cn/基金项目: NSFC-浙江两化融合联合基金（U1509202）; 中科院STS项目（STS-ZJ-2016ZX01）; 宁波市国际合作项目（2017D10023）.第一作者: 张林（1991－）, 男, 安徽宿州人, 在读硕士研究生, 主要研究方向: 工业工程、机构设计与分析. E-mail: linzhang@nimte.ac.cn*通信作者: 柳丽（1968－）, 女, 甘肃民勤人, 副教授, 主要研究方向: 工业工程、机构设计与分析. E-mail: liuli@nbu.edu.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
