基于正交机构的机器人肩关节静力学分析与结构参数设计

崔冰艳; 金振林

doi:10.3788/OPE.20111901.0077

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基于正交机构的机器人肩关节静力学分析与结构参数设计

微纳技术与精密机械 | 更新时间：2020-08-12

- 基于正交机构的机器人肩关节静力学分析与结构参数设计
- Statics analysis and structure parameter design of robot shoulder joint based on orthogonal mechanism
- 光学精密工程 2011年19卷第1期页码：77-82
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 河北农业大学海洋学院,河北秦皇岛,066003
- 作者简介：
- 基金信息：
  
  机械系统与振动国家重点实验室开放课题基金资助项目(No.MSV-2010-24)()
- DOI：10.3788/OPE.20111901.0077
  中图分类号： TP242.6
- 收稿日期：2010-02-03，
  
  修回日期：2010-04-23，
  
  网络出版日期：2011-01-22，
  
  纸质出版日期：2011-01-22
- 稿件说明：
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崔冰艳, 金振林. 基于正交机构的机器人肩关节静力学分析与结构参数设计[J]. 光学精密工程, 2010,19(1): 77-82

CUI Bing-yan, JIN Zhen-lin. Statics analysis and structure parameter design of robot shoulder joint based on orthogonal mechanism[J]. Editorial Office of Optics and Precision Engineering, 2010,19(1): 77-82
崔冰艳, 金振林. 基于正交机构的机器人肩关节静力学分析与结构参数设计[J]. 光学精密工程, 2010,19(1): 77-82 DOI： 10.3788/OPE.20111901.0077.

CUI Bing-yan, JIN Zhen-lin. Statics analysis and structure parameter design of robot shoulder joint based on orthogonal mechanism[J]. Editorial Office of Optics and Precision Engineering, 2010,19(1): 77-82 DOI： 10.3788/OPE.20111901.0077.

摘要

为了增大机器人肩关节的工作空间和承载能力

改善机器人肩关节的通用性与适应性

提出一种基于3-RRR正交球面并联机构的新型机器人肩关节

并对机器人肩关节进行了静力学分析和结构参数设计。首先

应用虚功原理建立机器人肩关节的静力学传递方程;其次

利用矩阵理论中的范数知识

将力雅克比矩阵引入静力学性能评价指标中

定义了机器人肩关节的静力学性能评价指标和全域力矩性能评价指标

并绘制了静力学性能评价指标在工作空间内的性能图谱。建立了基于机器人肩关节全域力矩性能评价指标的目标优化函数

分析了目标优化函数与全域力矩性能评价指标的关系

并利用全域搜索法

得到了机器人肩关节的优化结构参数:中间杆WB的杆长为49.8~60 mm

连架杆AU的杆长为90~112 mm。分析结果表明

机器人肩关节在初始位置附近具有良好的静力学传递性

且其随着转角的增大而降低。最后

根据优化的结构参数设计了新型的机器人肩关节。

Abstract

In order to increase the workspace and carrying capacity of a robot shoulder joint and to improve its popularity and adaptability

a novel robot shoulder joint was proposed based on 3-RRR orthogonal spherical parallel mechanism. The statics performance of the robot shoulder joint was analyzed and the structure parameters were designed. Firstly

the static transmission equation of the robot shoulder joint was established based on the principle of virtual works.Then

by use of the norm in matrix theory

the force Jacobian matrix was introduced into the statics performance evaluation index to define the statics performance evaluation index and the global torque performance evaluation index and to plot the performance atlas of the statics performance evaluation index at the work spaces of the robot shoulder joint. Furthermore

the objective optimal function based on the global torque performance evaluation index of the robot shoulder joint was established

and the relation of the objective optimal function and the global torque performance evaluation index was analyzed. By use of fully automatic searching method

the optimal structural parameter ranges of the robot shoulder joint are 49.8-60 mm for the middle follower length of WB and 90-112 mm for the frame connecting rod length of AU. Analysis results show that the robot shoulder joint has good static transmission performance at the initial position

and the static transmission performance decreases with increasing turning angle. Finally

using a set of optimal structural size parameters

a novel robot shoulder joint was designed.

关键词

Keywords

references

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