项目名称: 可重构变胞并联机器人机构综合设计方法与驱动配置研究
项目编号: No.51205016
项目类型: 青年科学基金项目
立项/批准年度: 2013
项目学科: 机械工程学科
项目作者: 张克涛
作者单位: 北京交通大学
项目金额: 25万元
中文摘要: 本项目以空间机构拓扑与几何理论为基础,将可重构与自重组思想引入具有广泛工程应用前景的并联机器人研究,综合设计具有运动模式变化特性的变胞并联机器人机构,解决并联机器人运动模式单一化和较小工作空间的瓶颈问题。本项目将建立可重构变胞运动副及其拓扑结构演变的数学模型;以具有可重构特性的变胞运动副为设计单元,建立基于约束分析的可重构变胞并联机器人机构综合方法与设计准则;研究变胞运动副约束演化与可重构并联机器人运动模式变化的映射关系并分析变胞运动副对变胞并联机器人机构整体工作空间等各项性能指标的影响。同时,基于可重构变胞并联机器人机构设计,研究能够实现机器人机构在不同构型之间转化以及确定各个构型中末端平台运动模式的驱动配置方案与运行策略。项目研究将有效地应用拓扑理论、微分几何和旋量理论等工具,创立系统的可重构变胞并联机器人机构综合设计方法,这一研究将对推动可重构并联机器人的发展以及工程应用有重要意义。
中文关键词: 可重构机构;变胞并联机器人;约束分析;运动学;旋量理论
英文摘要: Parallel manipulators with an invariant topological structure which leads to specific type of motion in a general configuration are used in the fields such as manufacturing, space exploration and medical robotics. The platform of a parallel manipulator usually has fixed mobility and does not have ability to change it, resulting in limited flexibility to accommodate changes required in the application environments. This proposal brings in a new idea to integrate metamorphosis in the structural synthesis of parallel manipulators leading to innovation of metamorphic parallel manipulators with reconfigurability. The methodology and systematic procedure for type synthesis of metamorphic parallel manipulators is to be investigated based on topology, differential geometry and screw theory. Novel type-changeable kinematic pair which originated from metamorphosis and the mathematical modeling of structural evolution will be investigated. The new developed type-changeable kinematic pairs will be taken as units together with the commonly used kinematic pairs in the process of synthesis. The study will further explore the relationship between topological variation of type-changeable kinematic pairs and the motion performance of the metamorphic parallel mechanism, and evaluate the effects on performance indexes of the paral
英文关键词: Reconfigurable mechanisms;metamorphic parallel robot;constraints analysis;kinematics;screw theory