基于Matlab的螺旋面钻尖刃磨机床的运动学仿真

研究了一种利用并联机构的两轴联动实现螺旋面钻尖刃磨的新方法,分析了采用并联机构的螺旋面钻尖刃磨机床的结构、刃磨原理和运动学特性,在给出位置分析的解析表达式的同时,基于Matlab对该机床进行了运动学仿真。     

一种两转一移完全解耦并联机器人机构及其特性分析

提出一种具有两转动和一移动自由度的完全解耦并联机构,运用约束螺旋法对机构的自由度数目和运动特性进行分析,推导出了该机构位置正反解的解析表达式,进而求得机构的雅可比矩阵,验证了机构的解耦特性,并对机构的奇异性进行了研究。所提出的解耦并联机构丰富了机构构型库,对其进行的性能分析证实了机构解耦特性,从而为其进一步的应用奠定了理论基础。     

多功能模块化串并联机床结构的研究

在分析当前机床技术发展的趋势的基础上，提出了一种新型模块化并联机床结构，机床主运动的实现采用并联机构，工件的进给运动由串联机构实现。研究了机床主运动模块平面二自由度机构的运动特性，给出了机构运动学正反解。机床采用模块化结构设计，据加工需要，可方便快捷地组合设计不同自由度的机床；运动机构串并联相结合，既具有结构简单，刚度重量比大，响应速度快的特点，又具有工作空间较大的特点。     

新型两平移一转动并联机构位置分析及运动仿真

提出了一种两平移一转动并联机构,进行了结构学分析,包括其自由度计算及输出运动类型分析,给出了位置分析的正、逆解.通过SolidWorks及与其无缝集成的运动学分析模块--COSMOSMotion,开发了该机构的三维实体模型并进行了运动学仿真.分析表明该机构的位置分析求解容易,易于实时控制,可广泛应用于工业装配机器人、微动机器人、虚拟轴并联机床和多维减振平台等领域,同时验证了该机构的正确性.     

面向光学精密装配的微操作机器人

为完成复杂的光学精密装配任务,开发一种多传感器混合控制的宏/微结合微操作机器人系统.在分析光学装配原理的基础上,阐述机器人系统的组成.研制由交流伺服电动机驱动的6自由度并联机构和由压电陶瓷驱动的5自由度柔性铰链机构,分别实现光学器件的粗定位及精定位,由压电陶瓷驱动的二级杠杆放大机构实现光学器件的可靠夹持.建立包括位姿检测、显微视觉、激光损耗检测及力检测的多传感器控制系统,根据传感器采集的位姿信息、视觉信息、损耗信息及力信息协调控制宏/微定位工作台精确调整光学器件的位置和姿态,实现装配自动化.试验表明,开发的面向光学精密装配的微操作机器人能够成功地完成光学器件的精确装配.     

Design and analysis of decoupled parallel mechanism with redundant actuator

This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.     

Variable structure control of high-speed parallel manipulator considering the mechatronics coupling model

In this paper, a variable structure control strategy is adopted to improve position accuracy of Diamond 600k, a 2-Dof parallel manipulator. Firstly, mechanism and servomotor dynamics are developed in terms of the virtual work principle, while the mechantronics coupling model of the manipulator is formulated according to the equivalent torque. At this stage, the mass matrix of the mechanism is calculated individually to decouple the systematic model. This can effectively reduce the computational burden of the dynamic model in the real time control process. Then, various path-planning methods are compared with each other in order to explore which of them is more suitable to the high-speed manipulator. Last, results of the relevant experiments and simulations are presented from which it is easily can be seen that in comparison to conventional PID controller, the algorithm developed in this paper provides more reliable tracking performance.     

基于OpenGL的步行器建模及运动仿真

传统步行器在结构上几乎都是基于串联形式,在此提出了一种新型的步行器机构,具体机构单腿为一并联Stewart平台。并联机构具有复杂的特性,为了分析的方便,利用软件OpenGL建立了步行器的三维建模,并在软件中进行了运动仿真,验证了结构的合理性。     

Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPSUP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPSUP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPSUP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.     

三自由度并联机器人结构参数优化与仿真方法研究

研究一种三自由度平动并联机器人机构特点,在求解其运动平台工作空间达到指定范围基础上,应用蒙特卡罗(Monte Carlo)方法近似得到全局务件指数,以此作为主要优化指标,获得运动灵活性和尺寸值达到最优时的结构参数。提出了一种新并联机器人运动学仿真法,用优化后所得结构参数在Envision软件上进行了仿真方法研究和验证。     

新型三平移两转动并联机构及其运动分析

提出了一种新型五自由度并联机构及其应用前景,该机构由一个具有平行四边形机构的8R分支和四个SPS分支组成,可实现空间的三维移动以及两个独立方向的转动,可用于如部件装配、推拿机器人、空间机构的运动平台等应用场合。文中分析了能实现预定运动输出的机构学原理,计算了它的活动度,采用直观的零位形两步法建立运动变换矩阵,求出了用于实时位置控制的反解,并给出了数值算例,分析了其在推拿机器人设计上的应用前景。     

三自由度并联机构坐标测量机的样机研制

采用-平移两转动并联机构为主体结构,研制了一种三自由度解耦并联机构(P-R-R-P-R)-R⊕S-P-T坐标测量机。给出了并联测量机的一般设计步骤,对所选机型进行机械机构设计.对样机的研制进行了详细说明,总结了样机研制过程的经验和体会。     

面向装配的并联机床描述的信息化方法

在分析总结并联机床装配结构特征的基础上,提出了并联机床装配层次结构。并基于广义串联机构的定义改进了并联机床描述原则。在此基础上,研究了并联机床存储结构形式,使外部抽象的描述模型有效地转化为计算机内部的数据存储模型,实现了并联机床装配设计过程信息化的关键一步。     

A general framework for geometry design of indexing cam mechanism

Indexing cam mechanism is one of most important mechanisms in automated machineries. This paper presents a general frame for kinematic analysis and geometry design of indexing cam mechanism, such as parallel cam mechanism and roller gear cam mechanism. This method applied screw theory to describe structure of cam mechanism and developed the kinematic equations by using Product of Exponentials Formula (PEF). As long as such structure parameters are given as position and orientation of central line in turret, cam and rollers, geometry modeling of indexing cam can be implemented in a general frame of kinematic equations by applying this method. The paper gives examples to obtain the geometry models of roller gear cam, barrel indexing cam and parallel indexing cam. Our work suggests that this method can avoid the burdensome work on building coordinate systems, transformation matrix and understanding on the mechanism. Moreover, this method can be used to innovate and design new types of indexing mechanism.     

一种新型并联运动振动筛及其运动学研究与研制

提出了并联运动振动筛的新概念,设计了一种新型空间二自由度并联机构,固结于该机构运动平台的筛箱能产生一个独立的铅垂运动和两个转动(其中一个为独立转动,一个为衍生转动),筛面轨迹为空间复杂曲线,适合于高效物料筛分运动;建立了该机构运动学正逆解数学模型,根据振动筛分工艺要求,设计了杆件长度,并进行了相应的三维实体运动仿真;还导出了上平台各点运动轨迹方程,用MATLAB绘出了相应的轨迹曲线,为该机构工艺参数的进一步优化设计奠定了基础;最后研制了样机.     

一种新型少自由度并联机构4-RPR(RR)及基础分析

讨论了一种新型少自由度并联机构4-RPR（RR），描述了机构的特性，计算了自由度，给出了机构的位置反解，利用虚设机构法建立了一阶影响系数矩阵并对机构进行了速度分析及仿真验证。这些是对该机构进一步分析的基础，因此具有实际的价值。     

基于方位特征集的两转动（0T-2R）并联机构的型综合及其应用

应用基于方位特征集的并联机构拓扑结构设计理论与方法,对两转动（0T-2R）输出的并联机构进行了型综合;在阐述基于方位特征集的并联机构型综合一般过程和步骤的基础上,给出了两转动输出并联机构拓扑结构设计的具体方法,综合得到了14种两转动输出并联机构,其中,6种机构为该方法综合得到,然后按它们的结构特性进行了初步分类,并将优选的一种两转动并联机构用于太阳能二轴跟踪机构的研制。该型综合方法运算规则少,数学方法简单,几何与物理意义明确,适用于所有无过约束和一般过约束机构。     

Synthesis of spherical parallel manipulator for dexterous medical task

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26°. A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i.e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism.     

平面连杆机构计算机建模与通用分析软件的开发

通过对平面连杆机构通用分析方法的探讨，提出了一种利用人机交互方式进行机构描述并实现连杆机构的计算机自动建模的方法。开发了相应的通用软件，阐述了该软件的组成结构及其功能，并给出一个应用算例。     

一种新型四自由度并联机构的运动学分析

对一种新型的四滑块驱动的二平移二转动并联机构,进行了结构学分析,包括其自由度计算及输出运动类型分析;给出了位置分析的正、逆解,用一维搜索法求解了其数值位置正解,还对该机构的工作空间进行了分析。该机构可作为虚轴坐标测量机、并联机床及其他运动平台的可选机型,为该并联机器人机构的误差分析、动力学分析计算及工业应用奠定了基础。