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外文翻译--最优运动设计的一个二自由度平面并联机械手 英文版.pdf

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外文翻译--最优运动设计的一个二自由度平面并联机械手 英文版.pdf

TSINGHUASCIENCEANDTECHNOLOGYISSN1007021406/18PP269275VOLUME12,NUMBER3,JUNE2007OPTIMALKINEMATICDESIGNOFA2DOFPLANARPARALLELMANIPULATORWUJUN吴军,LITIEMIN李铁民∗∗,LIUXINJUN刘辛军,WANGLIPING王立平INSTITUTEOFMANUFACTURINGENGINEERING,DEPARTMENTOFPRECISIONINSTRUMENTSANDMECHANOLOGY,TSINGHUAUNIVERSITY,BEIJING100084,CHINAABSTRACTCLOSEDFORMSOLUTIONSWEREDEVELOPEDTOOPTIMIZEKINEMATICSDESIGNOFA2DEGREEOFFREEDOM2DOFPLANARPARALLELMANIPULATORTHEOPTIMUMDESIGNBASEDONTHEWORKSPACEWASPRESENTEDMEANWHILE,AGLOBAL,COMPREHENSIVECONDITIONINGINDEXWASINTRODUCEDTOEVALUATETHEKINEMATICDESIGNSTHEOPTIMALPARALLELMANIPULATORISINCORPORATEDINTOA5DOFHYBRIDMACHINETOOLWHICHINCLUDESA2DOFROTATIONALMILLINGHEADANDALONGMOVEMENTWORKTABLETHERESULTSSHOWTHATTHEPLANARPARALLELMANIPULATORBASEDMACHINETOOLCANBESUCCESSFULLYUSEDTOMACHINEBLADESANDGUIDEVANESFORAHYDRAULICTURBINEKEYWORDSPLANARPARALLELMANIPULATOR;GLOBALCONDITIONINGINDEX;HYBRIDMACHINETOOLINTRODUCTIONPARALLELMECHANISMSARECAPABLEOFVERYFASTANDACCURATEMOTION,POSSESSHIGHERAVERAGESTIFFNESSCHARACTERISTICSTHROUGHOUTTHEIRWORKSPACE,HAVELOWERINERTIA,ANDCANMANIPULATEHEAVIERPAYLOADSTHANTHEIRSERIALCOUNTERPARTSTHEREFORE,PARALLELMECHANISMSHAVEBEENSTUDIEDEXTENSIVELYBYNUMEROUSRESEARCHERSINMANUFACTURING,PRIMARILYASPLATFORMSFORCOMPUTERNUMERICALCONTROLMACHININGTHEGOUGHSTEWARTPLATFORMWASTHEMOSTPOPULARPARALLELKINEMATICMACHINECONFIGURATIONWHENPARALLELKINEMATICMACHINEWEREFIRSTDEVELOPEDAPPLICATIONSWITHINTHEROBOTICSCOMMUNITYRANGEFROMHIGHSPEEDMANIPULATION1TOFORCETORQUESENSING2BUTTHEGOUGHSTEWARTPLATFORMHASSOMEDISADVANTAGESFORMANUFACTURINGAPPLICATIONSSUCHASITSRELATIVELYSMALLUSEFULWORKSPACE,COMPLEXDIRECTKINEMATICS,ANDDESIGNDIFFICULTIESPARALLELMANIPULATORSWITHLESSTHAN6DOFSARERELATIVELYEASYTODESIGNANDTHEIRKINEMATICSCANBEDESCRIBEDINCLOSEDFORMTHEREFORE,PARALLELMANIPULATORSWITHLESSTHAN6DOFS,ESPECIALLY2OR3DOFS,HAVEINCREASINGLYATTRACTEDATTENTION35PARALLELMANIPULATORSWITH2OR3TRANSLATIONALDOFSPLAYIMPORTANTROLESININDUSTRYANDCANBEAPPLIEDINPARALLELKINEMATICSMACHINES6,PICKANDPLACEAPPLICATIONS7,ANDOTHERFIELDSMOSTEXISTING2DOFPLANARPARALLELMANIPULATORSARETHEWELLKNOWNFIVEBARMECHANISMWITHPRISMATICACTUATORSORREVOLUTEACTUATORS8,9THEMANIPULATOROUTPUTISTHETRANSLATIONALMOTIONOFAPOINTONTHEENDEFFECTORANDTHEENDEFFECTORORIENTATIONCANNOTREMAINCONSTANTTHEKINEMATICDESIGNMETHODOLOGYISONEOFTHEKEYPARTSOFKINEMATICDESIGNTHEORYFORPARALLELMECHANISMSTHEOPTIMUMDESIGNCANBEBASEDONVARIOUSEVALUATIONCRITERIAINVOLVINGSTIFFNESS10,DEXTERITY,ORAGLOBALCONDITIONINGINDEX11,12HENCE,THEREHASNOTBEENONEWIDELYACCEPTEDDESIGNMETHODHUANGETAL13PRESENTEDAHYBRIDMETHODBASEDONACONDITIONINGINDEX,WHILELIUETAL14GAVEAGLOBALSTIFFNESS﹡﹡﹡RECEIVED20060602;REVISED20060821SUPPORTEDBYTHENATIONALNATURALSCIENCEFOUNDATIONOFCHINANO50305016ANDTHENATIONALHIGHTECHRESEARCHANDDEVELOPMENT863PROGRAMOFCHINANOS2004AA424120AND2005AA424223TOWHOMCORRESPONDENCESHOULDBEADDRESSEDEMAILLITMMAILTSINGHUAEDUCN;TEL861062792792TSINGHUASCIENCEANDTECHNOLOGY,JUNE2007,123269275270INDEXSIMILARTOTHEGLOBALCONDITIONINGINDEXTHISPAPERDESCRIBESTHEANALYSISOFAPLANARPARALLELMANIPULATORWITHTWOTRANSLATIONALDOFSWHICHDIFFERSFROMTHECONVENTIONALFIVEBARMECHANISMINTHATAPARALLELOGRAMSTRUCTUREISUSEDINEACHCHAINTHEKINEMATICSAREANALYZEDTOGETANOPTIMUMKINEMATICDESIGNBYMINIMIZINGAGLOBAL,COMPREHENSIVECONDITIONINGINDEXTHERESULTSGIVETHEOPTIMALLINKLENGTHSA5DOFHYBRIDMACHINETOOLWASDEVELOPEDWITHASERIALPARALLELARCHITECTUREWITHAPARALLELMANIPULATORCOMBINEDWITHA1DOFTRANSLATIONALWORKTABLEANDA2DOFROTATIONALMILLINGHEADTHEHYBRIDMACHINETOOLUSINGTHEPLANARPARALLELMANIPULATORHASBEENUSEDTOMILLTHEBLADESANDGUIDEVANESOFAHYDRAULICTURBINETOSHOWTHATTHEHYBRIDMACHINETOOLISSUITABLEFORTHEMANUFACTURINGINDUSTRY1STRUCTUREDESCRIPTIONTHE2DOFPARALLELMANIPULATORISSHOWNINFIG1THEMECHANISMISCOMPOSEDOFAGANTRYFRAME,AMOVINGPLATFORM,TWOACTIVESLIDERS,ANDTWOKINEMATICCHAINSEACHCHAINISBUILTASAPARALLELOGRAMASDESIGNED,THEMANIPULATORISOVERCONSTRAINEDSINCEONEPARALLELOGRAMLINKANDANOTHERSINGLELINKAREENOUGHFORTHEMOVINGPLATFORMTOPOSSES2TRANSLATIONALDOFSTWOPARALLELOGRAMCHAINSWEREUSEDTOINCREASETHESTIFFNESSANDMAKETHESTRUCTURESYMMETRICFIG1KINEMATICMODELCOUNTERWEIGHTS1PAND2PSEEFIG1WEREADDEDTOTHEMECHANISMTOIMPROVETHELOADCAPACITYANDACCELERATIONOFTHEACTUATORTHESLIDERSAREDRIVENINDEPENDENTLYBYTWOSERVOMOTORSONTHECOLUMNSTOSLIDEALONGTHEGUIDEWAYSMOUNTEDONTHECOLUMNS,THUSMOVINGPLATFORMWITHA2DOFPURELYTRANSLATIONALMOTIONINAPLANE2KINEMATICSANDSINGULARITIES21INVERSEKINEMATICSSINCETHEMOTIONSOFTWOLINKSOFEACHKINEMATICCHAINAREIDENTICALDUETOTHEPARALLELOGRAMSTRUCTURE,THECHAINMODELCANBESIMPLIFIEDASALINKIIAB1,2IASILLUSTRATEDINFIG1THEBASECOORDINATESYSTEMOXYISATTACHEDTOTHEBASEWITHITSYAXISVERTICALTHROUGHTHEMIDPOINTOF12BBAMOVINGCOORDINATESYSTEMOXY′′′ISFIXEDONTHEMOVINGPLATFORMIARANDIBRARETHEPOSITIONVECTORSOFTHEJOINTPOSITIONSIAANDIB,RESPECTIVELY2RISTHEMOVINGPLATFORMWIDTHAND2RISTHEWIDTHBETWEENTHETWOCOLUMNSTHEPOSITIONVECTOROFTHEORIGINO′WITHRESPECTTOTHECOORDINATESYSTEMOXYISDEFINEDASTOXY′R1THEPOSITIONVECTOROFJOINTPOSITIONIAINOXY′′′IS1T0AR′−R22T0AR′R3THENTHEPOSITIONVECTOROFIAINTHEBASECOORDINATESYSTEMOXYCANBEEXPRESSEDASIIAOA′′RRR4THEPOSITIONVECTOROFEACHJOINTPOSITIONIBIN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