Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration

Xiao-qiang DU; Fu-jie YU; Yuan CHEN

doi:10.37188/OPE.20202810.2276

您当前的位置：

首页 >

文章列表页 >

Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-11-16

- Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration
- Optics and Precision Engineering Vol. 28, Issue 10, Pages: 2276-2289(2020)
- 作者机构：
  
  山东大学(威海)机电与信息工程学院, 山东威海 264209
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20202810.2276
  CLC： TP242;TH112
- Received：15 June 2020，
  
  Revised：27 July 2020，
  
  Accepted：27 July 2020，
  
  Published：25 October 2020
- 稿件说明：
移动端阅览
Xiao-qiang DU, Fu-jie YU, Yuan CHEN. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and precision engineering, 2020, 28(10): 2276-2289.
DOI：

Xiao-qiang DU, Fu-jie YU, Yuan CHEN. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and precision engineering, 2020, 28(10): 2276-2289. DOI： 10.37188/OPE.20202810.2276.

摘要

为了实现水下机器人的推进装置具备空间姿态调整和大转矩的动力传递功能，本文提出了UPR-UPU-UR矢量推进机构。首先，运用螺旋理论计算了矢量推进机构的自由度，基于解析法构建了矢量推进机构的位置模型。其次，推导出了矢量推进机构的输出矢量和输入矢量之间的关系，并采用粒子群优化算法对矢量推进机构进行了位置正解计算。然后，基于矩阵分析法从速度雅克比矩阵和机构特征性角度研究了机构奇异性，计算了矢量推进机构动平台的工作空间。最后，搭建了UPR-UPU-UR矢量推进机构的实验平台，并进行了试验研究。数值仿真和实验结果表明：粒子群优化算例在绝对误差小于0.001°下可获得机构动平台的精确位姿，机构的矢量推进性能实验值与理论值存在的最大误差为5%，这证实了该机构具有良好的运动特性和推进性能。矢量推进机构是通过改变两条支链长度来调整螺旋桨的推力方向，使机器人可以具备偏航、俯仰、横滚等多种运动模式，有助于其实现复杂的水下运动。

Abstract

In this study

a vector propulsion mechanism with the UPR-UPU-UR configuration was investigated to develop an underwater vehicle propulsion device with space attitude adjustment

high precision

and large torque power transmission. First

the degree of freedom of the vector propulsion mechanism was calculated using screw theory

and the position model of the vector propulsion mechanism was constructed using an analytical method. Second

the relationship between the output vector and input vectors of the vector propulsion mechanism was derived

and the particle swarm optimization algorithm was used to calculate the position positive solution of the vector propulsion mechanism. Third

the singularity of the mechanism was evaluated using the Jacobian matrix corresponding to the angle of velocity and the characteristics of the mechanism

and the workspace of the vector propulsion mechanism was calculated. Finally

the experimental platform of the vector propulsion mechanism with the UPR-UPU-UR configuration was built

and experiments were conducted. The results of numerical simulations and experiments demonstrate that the precise position and attitude of the mechanism could be obtained when the absolute error was less than 0.001°

and the maximum error between the experimental and theoretical values of the vector propulsive performance was 5%

which proved that the mechanism had good motion characteristics and propulsive performance. The vector propulsion mechanism adjusted the thrust direction of the propeller by varying the length of two branch chains

such that the robot could exhibit various motion modes

such as yaw

pitch

and roll

which helped in achieving the complex underwater motion.

关键词

Keywords

references

谢源 , 谭力 , 瞿逢重 . 矢量推进混合型水下运载器的概念设计研究 . 船舶工程 , 2015 . 37 ( 8 ): 107 - 110 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=cbgc201508025 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=cbgc201508025 .

Y XIE , L TAN , F ZH ZHAI . Conceptual design of a new hybrid vectored thruster autonomous underwater vehicle . Ship Engineering , 2015 . 37 ( 8 ): 107 - 110 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=cbgc201508025 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=cbgc201508025 .

X H LIN , S X GUO . Development of a spherical underwater robot equipped with multiple vectored water-jet-based thrusters . Journal of Intelligent & Robotic Systems , 2012 . 67 307 - 321 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=4f33616d3e8e5b1a41f9e2571b91fcc6 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=4f33616d3e8e5b1a41f9e2571b91fcc6 .

马鹤 , 陈思博 , 吴金兵 , 等 . 同轴结构球形液滴的尺寸效应和电场动力学 . 液晶与显示 , 2020 . 35 ( 4 ): 293 - 305 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yjyxs202004001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yjyxs202004001 .

H MA , S B CHEN , J B WU , 等 . Size effect and electric field dynamics of spherical droplets in concentric configurations . Chinese Journal of Liquid Crystals and Displays , 2020 . 35 ( 4 ): 293 - 305 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yjyxs202004001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yjyxs202004001 .

高富东 , 潘存云 , 杨政 , 等 . 多矢量推进水下航行器6自由度非线性建模与分析 . 机械工程学报 , 2011 . 47 ( 5 ): 93 - 100 .

F D GAO , C Y PAN , ZH YANG , 等 . Nonlinear mathematics modeling and analysis of the vectored Thruster autonomous underwater vehicle in 6-DOF motions . Journal of Mechanical Engineering , 2011 . 47 ( 5 ): 93 - 100 .

F D GAO , C Y PAN , H J XU , 等 . Design and mechanical performance analysis of a new wheel propeller . Chinese Journal of Mechanical Engineering , 2011 . 24 ( 5 ): 805 - 812 . DOI: 10.3901/CJME.2011.05.805 http://doi.org/10.3901/CJME.2011.05.805 .

方世鹏.水下矢量推进螺旋桨装置设计与研究[D].长沙: 国防科学技术大学, 2008.

FANG SH P. Research on Submarine Thrust-vectoring Propulsion Device [D]. Changsha: Graduate School of National University of Defense Technology, 2008. (in Chinese)

侯家怡 , 刘可峰 , 常琦 , 等 . 倾转螺旋桨潜器操控研究 . 造船技术 , 2015 . ( 5 ): 83 - 87 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zcjs201505020 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zcjs201505020 .

J Y HOU , K F LIU , Q CHANG , 等 . The manipulation on research on submarine with tilt rotor . Marine Technology , 2015 . ( 5 ): 83 - 87 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zcjs201505020 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zcjs201505020 .

X D DENG , X Y SONG , J JI , 等 . Research on static thrust accurate measurement testing technology of vectoring nozzle . Journal of Experiments in Fluid Mechanics , 2018 . 32 ( 1 ): 90 - 97 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=ltlxsyycl201801012 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=ltlxsyycl201801012 .

ZHENG K S, ZHANG Z X, SHANG J Z, et al .. A hybrid propulsion method for underwater vehicle[C]. 2010 International Conference on System Science , Engineering Design and Manufacturing Informatization , Yichang , China , 2010: 285-288.

郑昆山.基于喷水矢量推进的水下机器人设计与研究[D].长沙: 国防科学技术大学, 2010.

ZHENG K SH. Design and Research on Vectorial Waterjet Propulsion Based Underwater Vehicle [D]. Changsha: National University of Defense Technology, 2010.(in Chinese)

徐瀚 , 李静 , 陈原 , 等 . 基于螺旋理论的水下机器人矢量推进球面并联机构的运动学建模 . 机器人 , 2016 . 38 ( 6 ): 738 - 745+753 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jqr201606012 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jqr201606012 .

H XU , J LI , Y CHEN , 等 . Kinematic modeling of spherical parallel manipulator with vectored thrust function for underwater robot based on screw theory . Robot , 2016 . 38 ( 6 ): 738 - 745+753 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jqr201606012 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jqr201606012 .

B LI , Y CHEN , J F ZHANG , 等 . Modeling and representation of a computer-aided conceptual design system . Journal of Mechanical Science and Technology , 2012 . 26 ( 11 ): 3515 - 3524 . DOI: 10.1007/s12206-012-0868-7 http://doi.org/10.1007/s12206-012-0868-7 .

Y CHEN , Z Q DENG , B LI . Dynamic multi-attribute decision making model based on triangular intuitionistic fuzzy numbers . Scientia Iranica , 2011 . 18 ( 2 ): 268 - 274 . DOI: 10.1016/j.scient.2011.03.022 http://doi.org/10.1016/j.scient.2011.03.022 .

S P ROQUE , E CECILIA , C GARCIA , 等 . Experiences and results from designing and developing a 6 DoF underwater parallel robot . Robotics and Autonomous Systems , 2011 . 59 101 - 112 . DOI: 10.1016/j.robot.2010.10.005 http://doi.org/10.1016/j.robot.2010.10.005 .

SALTAREN R, ARACIL R, CARDENAS P, et al .. Underwater Parallel Robot for oceanic measuring and observations-remo I: development and navigation control advances: OCEANS 2009-EUROPE, Bremen, Germany, 2009[C]. Oceanic Engineering Society .

黄真 , 赵永生 , 赵铁石 . 高等空间机构学 , : 北京高等教育出版社 , 2014 .

ZH HUANG , Y SH ZHAO , T SH ZHAO . Advanced Spatial Mechanism , : Beijing Higher Education Press , 2014 .

陈原 , 何淑垒 , 姜媛 , 等 . 轮-腿复合式移动机器人球面并联腿机构的动力学模型 . 光学精密工程 , 2019 . 27 ( 8 ): 1800 - 1810 . http://ope.lightpublishing.cn/thesisDetails?columnId=1428944&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1428944&Fpath=&index=-1&l=zh .

Y CHEN , SH L HE , Y JIANG , 等 . Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot . Opt. and Precision Eng. , 2019 . 27 ( 8 ): 1800 - 1810 . http://ope.lightpublishing.cn/thesisDetails?columnId=1428944&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1428944&Fpath=&index=-1&l=zh .

荣誉 , 金振抹 , 曲梦可 . 六足步行机器人的并联机械腿设计 . 光学精密工程 , 2012 . 20 ( 7 ): 1532 - 1541 . http://ope.lightpublishing.cn/thesisDetails?columnId=1766348&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1766348&Fpath=&index=-1&l=zh .

Y RONG , ZH L JIN , M K QU . Design of parallel mechanical leg of six-legged robot . Opt. Precision Eng. , 2012 . 20 ( 7 ): 1532 - 1541 . http://ope.lightpublishing.cn/thesisDetails?columnId=1766348&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1766348&Fpath=&index=-1&l=zh .

强红宾 , 薛大鹏 , 冯新宇 , 等 . 基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定 . 光学精密工程 , 2020 . 28 ( 7 ): 1546 - 1557 . http://ope.lightpublishing.cn/thesisDetails?columnId=2263210&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2263210&Fpath=&index=-1&l=zh .

H B QIANG , D P XUE , X Y FENG , 等 . Stewart parallel manipulator kinematic calibration based on the normalized identifications Jacobian choosing measurement configurations . Opt. Precision Eng. , 2020 . 28 ( 7 ): 1546 - 1557 . http://ope.lightpublishing.cn/thesisDetails?columnId=2263210&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=2263210&Fpath=&index=-1&l=zh .

陈淼 , 张氢 , 葛韵斐 , 等 . 2UPR-RRU并联机构及其运动学分析 . 北京航空航天大学学报 , 2019 . 45 ( 6 ): 1145 - 1152 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=bjhkhtdxxb201906011 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=bjhkhtdxxb201906011 .

M CHEN , Q ZHANG , Y F GE , 等 . 2UPR-RRU parallel mechanism and its kinematic analysis . Journal of Beijing University of Aeronautics and Astronautics , 2019 . 45 ( 6 ): 1145 - 1152 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=bjhkhtdxxb201906011 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=bjhkhtdxxb201906011 .

侯珍秀 , 田申 , 庄廷 , 等 . 基于PSO的三维薄壁管件支撑位置的定位方法 . 哈尔滨工程大学学报 , 2019 . 40 ( 8 ): 1502 - 1508 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201908020 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201908020 .

ZH X HOU , SH TIAN , T ZHUANG , 等 . PSO-based positioning method for the optimization of the supporting position of 3D thin-walled pipe fittings . Journal of Harbin Engineering University , 2019 . 40 ( 8 ): 1502 - 1508 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201908020 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201908020 .

荆龙宾.并联微定位平台结构优化及位姿检测系统研究[D].北京: 中国航天科技集团公司第一研究院, 2017.

JING L B. The Research on the Structure Optimization and Position-Attitude Detection System [D]. Beijing: The First Academy of China Aerospace Science and Technology Corporation, 2017.(in Chinese)

高建设 , 李明祥 , 侯伯杰 , 等 . 新型四足步行机器人串并混联腿的运动学分析 . 光学精密工程 , 2015 . 23 ( 11 ): 3147 - 3160 . http://ope.lightpublishing.cn/thesisDetails?columnId=1799773&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1799773&Fpath=&index=-1&l=zh .

J SH GAO , M X LI , B J HOU , 等 . Kinematics analysis on the serial-parallel leg of a novel quadruped walking robot . Opt. Precision Eng. , 2015 . 23 ( 11 ): 3147 - 3160 . http://ope.lightpublishing.cn/thesisDetails?columnId=1799773&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1799773&Fpath=&index=-1&l=zh .

许允斗 , 王超 , 赵春霖 , 等 . 2RPU/UPR+RP五自由度混联机器人参数标定研究 . 光学精密工程 , 2020 . 28 ( 1 ): 119 - 129 . http://ope.lightpublishing.cn/thesisDetails?columnId=1495907&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1495907&Fpath=&index=-1&l=zh .

Y D XU , CH WANG , CH L ZHAO , 等 . Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP . Opt. Precision Eng. , 2020 . 28 ( 1 ): 119 - 129 . http://ope.lightpublishing.cn/thesisDetails?columnId=1495907&Fpath=&index=-1&l=zh http://ope.lightpublishing.cn/thesisDetails?columnId=1495907&Fpath=&index=-1&l=zh .

J CRAIG JOHN . Introduction to Robotics:Mechanics and Control, Third Edition , : Beijing China Machine Press , 2006 .

Views

351

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Stewart parallel manipulator kinematic calibration based on the normalized identification Jacobian choosing measurement configurations

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

Region segmentation of point cloud data based on improved particle swarm optimization fuzzy clustering

Forward displacement analysis for 5TSP-PPS parallel mechanism of large aperture grating tiling

Error and compensation of parallel robot with joint clearances

Related Author

Xin-yu FENG

Da-peng XUE

Hong-bin QIANG

Shu-lei HE

Yuan JIANG

Dong-hui SANG

Shu-rong NING

Lu-shen WU

Related Institution

Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, YanShan University

Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University

School of Mechatronic Engineering, Nanchang University

School of Architectural and Mechanical Engineering, Chifeng University

School of Mechanical Engineering, Harbin Institute of Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰