2-DOF并联行程放大机构结构参数优化

王晓磊; 李晓丹

doi:10.3788/OPE.20192705.1148

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2-DOF并联行程放大机构结构参数优化

微纳技术与精密机械 | 更新时间：2020-08-13

- 2-DOF并联行程放大机构结构参数优化
- Optimization design of structural parameters of 2-DOF parallel stroke amplification mechanism
- 光学精密工程 2019年27卷第5期页码：1148-1157
- 作者机构：
  
  1.燕山大学机械工程学院，河北秦皇岛 066004
  2.辽宁工业大学机械工程与自动化学院，辽宁锦州 121001
  3.上海交通大学机械系统与振动国家重点实验室，上海 200240
- 作者简介：
  
  [ "王晓磊 (1979-)，男，辽宁锦州人，博士研究生，副教授，2007年于沈阳工业大学获得硕士学位，主要从事并联机器人理论与应用方面的研究。E-mail:wxlgxy@126.com" ]
- 基金信息：
  
  国家高技术研究发展计划(863计划)资助项目(2011AA040900);机械系统与振动国家重点实验室课题资助项目(MSV201506);辽宁省高等学校科学技术研究项目资助(JL201615402)
- DOI：10.3788/OPE.20192705.1148
  中图分类号： TP242.6
- 收稿日期：2018-12-27，
  
  录用日期：2019-1-29，
  
  纸质出版日期：2019-05-15
- 稿件说明：
移动端阅览
王晓磊, 李晓丹. 2-DOF并联行程放大机构结构参数优化[J]. 光学精密工程, 2019,27(5):1148-1157.

Xiao-lei WANG, Xiao-dan LI. Optimization design of structural parameters of 2-DOF parallel stroke amplification mechanism[J]. Optics and precision engineering, 2019, 27(5): 1148-1157.
王晓磊, 李晓丹. 2-DOF并联行程放大机构结构参数优化[J]. 光学精密工程, 2019,27(5):1148-1157. DOI： 10.3788/OPE.20192705.1148.

Xiao-lei WANG, Xiao-dan LI. Optimization design of structural parameters of 2-DOF parallel stroke amplification mechanism[J]. Optics and precision engineering, 2019, 27(5): 1148-1157. DOI： 10.3788/OPE.20192705.1148.

摘要

为研制一种能实现快速行走、运动灵活性好的仿生四足机器人，对一种能够实现机构末端位置行程放大的2自由度并联机构进行运动性能分析与结构参数优化，并将优化结果应用到仿生四足机器人的腿部机构，研制出样机。首先，推导2自由度并联行程放大机构位置反解，建立机构的线速度雅克比矩阵，对机构的工作空间进行分析。其次，建立机构运动灵活性能评价指标，揭示主要结构参数对灵活性能指标的影响规律。然后，采用容限加权法确定一组合理的结构参数，使运动灵活性能指标达到最优。最后，根据优化的结构参数设计出仿生四足机器人腿部机构和整体的虚拟样机，并进行虚拟样机运动仿真。仿真结果表明：并联行程放大机构各驱动参数变化平稳，理论速度和仿真速度误差在±1.6×10

-6

m/s范围内，验证仿生四足机器人腿部机构设计方案和结构参数的合理性及理论推导的正确性，为该仿生四足机器人的进一步研究奠定了基础。

Abstract

The objective of this study was to develop a bionic quadruped robot that can realize fast walking and good mobility. Motion performance analysis and optimization of structural parameters for a 2-DOF parallel mechanism that can realize end-position travel amplification of the mechanism were conducted. Optimization results were then applied to the leg mechanism of a bionic quadruped robot

and a prototype was constructed. First

an inverse solution of the 2-DOF parallel travel amplification mechanism was deduced

the linear velocity Jacobian matrix of the mechanism was established

and the workspace of the mechanism was analyzed. Second

an evaluation index of the flexible performance of the mechanism was established to reveal the influence law of the main structural parameters on the flexible performance index. Then

a set of reasonable structural parameters was determined using the tolerance weighting method to optimize the performance of the kinematic flexibility. Finally

based on the optimized structural parameters

the bionic quadruped robot leg mechanism and a virtual prototype were designed. Motion simulation of the virtual prototype was then conducted. The simulation results show that the driving parameters of the parallel stroke amplification mechanism changed smoothly

and the theoretical and simulation speed errors are within the range of ±1.6×10

-6

m/s

which werified the rationality of the design scheme and the structural parameters of the bionic quadruped leg mechanism and the correctness of theoretical derivation. This study provides a foundation for further research on bionic quadruped robots.

关键词

Keywords

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