一种等效8-SPU移动机器人工作空间分析

李清蕾; 闫志喜; 万小金

doi:10.13433/j.cnki.1003-8728.2017.0723

一种等效8-SPU移动机器人工作空间分析

doi: 10.13433/j.cnki.1003-8728.2017.0723

李清蕾^1,2,
闫志喜^1,2,
万小金^1,2, ,

1.
武汉理工大学汽车工程学院, 武汉 430070;
2.
武汉理工大学现代汽车零部件技术湖北省重点实验室, 武汉 430070

基金项目:

国家自然科学基金项目（51575417）资助

详细信息

作者简介:
李清蕾(1989-),在读研究生,研究方向为机器人工作空间分析及其控制,lql8903@163.com

通讯作者:
万小金(联系人),副教授,博士,wxj_2001@163.com

计量
- 文章访问数: 122
- HTML全文浏览量: 23
- PDF下载量: 4
- 被引次数: 0
出版历程
- 收稿日期: 2016-04-06
- 刊出日期: 2017-07-05

Workspace Analysis of an Equivalent 8-SPU Mobile Robot

Li Qinglei^1,2,
Yan Zhixi^1,2,
Wan Xiaojin^{1,2
, ,}

1.
School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China;
2.
Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China

摘要

摘要: 该等效8-SPU移动机器人行走时为腿式机器人，支撑板壳类工件时为并联机器人。对该机构进行了逆位置求解，建立了运动学映射模型，综合考虑了工作空间的几何约束和运动性能约束，运用柱坐标边界搜索法确定工作空间边界，绘制了定姿态工作空间三维实体模型及其截面图，分析了工作空间的联通性以及机构参数对工作空间的影响，从操作度和均匀性两方面对不同约束下的工作空间进行了性能比较分析。结果表明：综合约束下机器人的工作空间具有更好的运动性能。该等效8-SPU移动机器人工作空间分析为其结构优化、运动控制以及路径规划奠定了理论基础。
- 移动机器人 /
- 工作空间 /
- 机构参数 /
- 性能评价
Abstract: The equivalent 8-SPU mobile robot acts as a leg type robot while walking and a parallel robot while supporting. Inverse position solution, kinematics mapping model, and comprehensive constraints with combining geometric constrains and kinetic property constraints are suggested for the workspace analysis of this mechanism. The polar coordinate boundary searching method is used to determine the workspace boundary, and then the 3D solid model of fixed pose workspace and its cross-sectional drawing are also given. The effect of mechanism parameters on workspace volume size and connectivity is also intensively analyzed. Moreover, the workspace is analyzed from manipulability and uniformity, and compared under two different constraint conditions. The analysis results demonstrate that the workspace under the comprehensive constraints has better motion performance. The robot workspace analysis in this study provides a theoretical basis for its structural optimization, motion control and path planning.
- mobile robot /
- workspace /
- mechanism parameter /
- performance evaluation

HTML全文

参考文献(15)

[1]	文福安,杨光.并联机器人机构概述[J].机械科学与技术,2000,19(1):69-72,80 Wen F A, Yang G. Introduction to parallel actuated manipulators[J]. Mechanical Science and Technology, 2000,19(1):69-72,80(in Chinese)
[2]	Masory O, Wang J. Workspace evaluation of Stewart platforms[J]. Advanced Robotics, 1994,9(4):443-461
[3]	段艳宾,梁顺攀,曾达幸,等.6-PUS/UPU并联机器人运动学及工作空间分析[J].机械设计与,2011,28(3):36-40 Duan Y B, Liang S P, Zeng D X, et al. Kinematics and workspace analysis of 6-PUS/UPU parallel manipulator[J]. Journal of Machine Design, 2011,28(3):36-40(in Chinese)
[4]	徐洋,管文博,黄双.冗余平面并联机器人工作空间分析及轨迹规划[J].机械科学与技术,2015,34(8):1166-1170 Xu Y, Guan W B, Huang S. Workspace analysis and trajectory planning of redundant planar parallel robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015,34(8):1166-1170(in Chinese)
[5]	黄田,汪劲松,Whitehouse D J,等.Stewart并联机器人位置空间解析[J].中国科学(E辑),1998,28(2):136-145 Huang T, Wang J S, Whitehouse D J, et al. Position space analysis of stewart parallel robot[J]. Science in China (series E), 1998,28(2):136-145(in Chinese)
[6]	黄俊杰,贾智宏,赵俊伟.3-PRS并联机器人的工作空间研究与分析[J].机械科学与技术,2012,31(4):660-663 Huang J J, Jia Z H, Zhao J W. Analysis and research on the workspace of 3-PRS parallel robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2012,31(4):660-663(in Chinese)
[7]	刘玉旺,余晓流,储刘火,等.并联机构工作空间及参数优化研究[J].机械科学与技术,2006,25(2):184-188 Liu Y W, Yu X L, Chu L H, et al. Study on the workspace and parameter optimum of Parallel Mechanisms[J]. Mechanical Science and Technology, 2006,25(2):184-188(in Chinese)
[8]	Huang Z, Li S H, Zuo R G. Feasible instantaneous motions and kinematic characteristics of a special 3-DOF 3-UPU parallel manipulator[J]. Mechanism and Machine Theory, 2004,39(9):957-970
[9]	Gao F, Liu X J, Chen X. The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators[J]. Mechanism and Machine Theory, 2001,36(2):205-220
[10]	刘辛军,汪劲松,李剑锋,等.一种新型空间3自由度并联机构的正反解及工作空间分析[J].机械工程学报,2001,37(10):36-39 Liu X J, Wang J S, Li J F, et al. On the workspace of a novel spatial 3-DOF parallel manipulator[J]. Chinese Journal of Mechanical Engineering, 2001,37(10):36-39(in Chinese)
[11]	陈学东,郭鸿勋,渡边桂吾.四足机器人爬行步态的正运动学分析[J].机械工程学报,2003,39(2):8-12 Chen X D, Guo H X, Watanabe K. Direct kinematics analysis of crawl gait for a quadruped robot[J]. Chinese Journal of Mechanical Engineering, 2003,39(2):8-12(in Chinese)
[12]	Yoshikawa T. Manipulability of robotic mechanisms[J]. The International Journal of Robotics Research, 1985,4(2):3-9
[13]	Xiong C H, Li Y F, Xiong Y L, et al. Grasp capability analysis of multifingered robot hands[J]. Robotics and Autonomous Systems, 1999,27(4):211-224
[14]	张立杰,郭菲,李永泉,等.基于运动学分配性能的并联机构优化设计[J].农业机械学报,2015,46(4):365-371,337 Zhang L J, Guo F, Li Y Q, et al. Optimum design of parallel mechanism based on kinematics distribution performance[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015,46(4):365-371,337(in Chinese)
[15]	Salisbury J K, Craig J T. Articulated hands:force control and kinematic issues[J]. The International Journal of Robotics Research, 1982,1(1):4-17