Static performance evaluation and optimal design of 5-DOF parallel mechanical leg

RONG Yu; JIN Zhen-lin

doi:10.3788/OPE.20122006.1233

您当前的位置：

首页 >

文章列表页 >

Static performance evaluation and optimal design of 5-DOF parallel mechanical leg

更新时间：2020-08-12

- Static performance evaluation and optimal design of 5-DOF parallel mechanical leg
- Optics and Precision Engineering Vol. 20, Issue 6, Pages: 1233-1242(2012)
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 河北科技师范学院,河北秦皇岛,066004
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122006.1233
  CLC： TP242.6
- Received：24 February 2012，
  
  Revised：10 March 2012，
  
  Published Online：10 June 2012，
  
  Published：10 June 2012
- 稿件说明：
移动端阅览
荣誉, 金振林. 五自由度并联机械腿静力学性能评价与优化设计[J]. 光学精密工程, 2012,20(6): 1233-1242

RONG Yu, JIN Zhen-lin. Static performance evaluation and optimal design of 5-DOF parallel mechanical leg[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1233-1242
荣誉, 金振林. 五自由度并联机械腿静力学性能评价与优化设计[J]. 光学精密工程, 2012,20(6): 1233-1242 DOI： 10.3788/OPE.20122006.1233.

RONG Yu, JIN Zhen-lin. Static performance evaluation and optimal design of 5-DOF parallel mechanical leg[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1233-1242 DOI： 10.3788/OPE.20122006.1233.

摘要

为了对一种六足机器人的五自由度并联机械腿进行静力学性能评价和优化设计

提出了一种同时考虑约束力映射关系和驱动力映射关系的腿部机构静力学分析方法

并基于此方法对机械腿进行了优化设计。首先

通过分析腿部机构的驱动、约束映射关系

分别建立了腿部机构的驱动雅可比矩阵和约束雅可比矩阵;应用虚功原理建立了腿部机构的驱动静力传递平衡方程

在定义驱动静力学评价指标的基础上绘制了评价指标分布图

得出了结构参数与驱动静力评价指标之间的关系曲线。然后

采用同样的方法建立了腿部机构的约束静力传递平衡方程

定义了约束静力学性能评价指标

得出了结构参数与约束静力评价指标之间的关系曲线。最后

基于驱动、约束静力学性能评价指标

采用蒙特卡罗法对结构参数进行了优化设计。计算表明

固定平台结构参数

为200 mm、运动平台结构参数

为80 mm

UPU支链长度l

1min

、l

1max

分别为500 mm、900 mm时

腿部机构的静力学综合性能最好。

Abstract

To evaluate the static performance and design optimally a parallel mechanical leg for the six-legged robot

a static analysis method based on the mapping of both constraint and actuation forces was proposed

and the mechanical leg was designed based on this method. Firstly

the constraint and actuation Jacobian matrixes were established based on the mapping of both constraint and actuation. Then

according to the virtual work principle

the actuation statics transmission equation was established

the performance evaluation indexes of actuation statics were designed

and the relationship curve between the performance evaluation index and structure parameters was calculated. By the same way

the transmission equation and performance evaluation index of constraint statics were obtained

and the relationship curve between the performance evaluation index and structure parameters was also calculated. Finally

based on the performance evaluation indexes both of constraint and actuation statics

the structure parameters were optimally designed by Monte Carlo method. Calculations show that when the structure parameters of a fixed platform and a movement platform are 200 mm

and 80 mm and the UPU branched chain lengths l

1min

1max

are 500 mm and 900 mm

the statics comprehensive performance of the parallel mechanical leg is the best. These studies lays the theoretical foundation for further study of the six-legged robot.

关键词

Keywords

references

韩雪冰,张景旭,赵金宇,等. 水平式光电望远镜目标定位误差的预测[J]. 光学精密工程, 2010,18(7):1595-1604. HAN X B, ZHANG J X, ZHAO J Y, et al.. Forecast for orientation errors of alt-alt photoelectric telescope [J]. Opt. Precision Eng., 2010,18(7):1595-1604. (in Chinese)

赵飞, 王森, 邓超,等. 兴隆1 m光学望远镜消杂散光系统[J]. 光学精密工程,2010,18(3):514-520. ZHAO F, WANG S, DENG C, et al.. Stray light control lens for Xing Long 1-meter optical telescope [J]. Opt. Precision Eng.,2010,18(3):514-520. (in Chinese)

吕文华, 贺晓雷, 于贺军, 等. 全自动太阳跟踪器的研制和应用[J]. 光学精密工程, 2008,16(12):2544-2550. LV W H, HE X L, YU H J, et al.. Development of full-automatic solar tracker and its applications [J]. Opt. Precision Eng., 2008,16(12):2544-2550. (in Chinese)

WALDRON K J. Configuration design of the ASV. int [J]. J. of Robotics Research, 1984,3(2):37-48.

ELENA G, MARIA A J. The evolution of robotics research [J]. Robotics and Automation, 2007,3(10):90-102.

崔冰艳. 仿生机器人并联关节/运动单元的性能分析与设计 . 秦皇岛:燕山大学,2011:83-125. CUI B Y. Performance analysis and design for parallel joint/kinematical unit of bionic robot . Qinhuangdao: Yanshan University, 2011:83-125. (in Chinese)

王炳一. 一种新型四足仿生机器人性能分析与仿真 . 秦皇岛:燕山大学, 2011:55-70. WANG B Y. Simulation and performance analysis on new type of bionic quadruped robot . Qinhuangdao: Yanshan University, 2011:55-70. (in Chinese)

倪森. 基于2-UPS&UP并联结构腿的四足步行器设计 . 秦皇岛:燕山大学, 2011:35-70. NI S. The design of quadruped robot based on 2-UPS&UP parallel mechanism leg . Qinhuangdao: Yanshan University, 2011:35-70. (in Chinese)

王洪波,齐政彦,胡正伟,等. 并联腿机构在四足/两足可重组步行机器人中的应用[J]. 机械工程学报, 2009,45(8):24-30. WANG H B, QI ZH Y, HU ZH W, et al.. Application of parallel leg mechanisms in quadruped/biped Reconfigurable walking robot [J]. Journal of Mechanical Engineering, 2009,45(8):24-30. (in Chinese)

王洪波, 徐桂玲, 张典范,等. 助老助残四足/两足可重构并联腿步行机器人运动学建模与仿真[J]. 燕山大学学报, 2010,34(6):508-515. WANG H B, XU G L, ZHANG D F, et al.. Kinematics modeling and simulation of quadruped/biped walking robot with parallel leg mechanism for the elderly and the disabled [J]. Journal of Yanshan University, 2010,34(6):508-515. (in Chinese)

TSAI L W. Robot Analysis: The Mechanics of Serial and Parallel Manipulators [M]. New York: john Wiley and Sons, 1999.

MERLET J P. Jacobian, manipulability, condition number, and accuracy of parallel robots [J]. ASME Journal of Mechanical Design, 2006,128(1):199-206.

李永刚, 宋轶民, 黄田, 等. 少自由度并联机器人机构的静力分析 [J]. 机械工程学报, 2007,43(9):80-83. LI Y G, SONG Y M, HUANG T, et al.. Static force analysis of lower-mobility parallel manipulators [J]. Journal of Mechanical Engineering, 2007,43(9):80-83. (in Chinese)

黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 北京:高等教育出版社, 2006:277-283. HUANG ZH, ZHAO Y SH, ZHAO T SH. Advanced Spatial Mechanism [M]. Beijing: Higher Education Press, 2006:277-283. (in Chinese)

JOSHI S A, TSAI L W. Jacobian analysis of limited-DOF parallel manipulators [J]. ASME Journal of Mechanical Design, 2002(124):254-258.

李秦川. 对称少自由度并联机器人型综合理论及新机型综合 . 秦皇岛:燕山大学, 2003:51-55. LI Q C. Type synthesis theory of lower-mobility parallel mechanisms and synthesis of new architectures . Qinhuangdao: Yanshan University, 2011: 51-55. (in Chinese)

郭希娟. 机构性能指标理论与仿真[M]. 北京:科学出版社, 2010:110-113. GUO X J. Theory and Simulation of Performance index [M]. Beijing:Science Press,2010:110-113. (in Chinese)

Views

512

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Optimal design of core parameters of high-power laser systems based on weight analysis

Design of micro-positioning stage with flexure hinge

Kinematical properties and optimal design of 3-DOF precision positioning stage

Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor

Optimal design of rotor rim for magnetically suspended flywheel with vernier gimballing capacity

Related Author

PAN Gang

WANG Bing

QU Weidong

XING Hui

ZHANG Yanxiu

MA Na

SUN Li-ning

LIU Bo

Related Institution

Unit of PLA

School of Mechatronic Engineering and Automation, Shanghai University

Robotics and Microsystems Center, Soochow University

State Key Laboratory of Robotics and System, Harbin Institute of Technology

江西理工大学机电工程学院

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