高精度球面2自由度并联机构优化设计理论及控制的研究

项目名称： 高精度球面2自由度并联机构优化设计理论及控制的研究

项目编号： No.50875226

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 机械、仪表工业

项目作者： 张立杰

作者单位： 燕山大学

项目金额： 35万元

中文摘要： 球面2自由度并联机构，能够实现定向空间矢量，具有广阔的应用前景。确定了球面2自由度并联机构3种典型机型；利用计算机编程搜索可达工作空间是否存在，识别了机器人机构的有效设计空间；以此为基础研究了可达工作空间和奇异位形与机构尺寸参数之间的关系；开发了一套基于兼顾全域性能指标和局域性能指标相对综合性能最优的机器人机构尺寸优化设计软件；采用传统的拆杆法建立了机构的静力学平衡方程，利用积分法求出各杆件变形，再运用小变形叠加原理建立机构的变形补充协调方程，并采用输入力优化方法，得到该机构静力学全解；运用拉格朗日方法建立了球面2自由度并联机构动力学模型，并运用能耗优化和力优化方法解决了冗余驱动机构驱动力优化问题；采用加速度为连续分段函数和组合正弦函数两种轨迹规划方法对球面2自由度并联机器人机构在笛卡尔空间进行运动学轨迹规划。采用环路增量法，建立了球面2自由度并联机构误差模型；以适用于各类快速移动载体对卫星电视信号的自动跟踪装置为应用目标，研制了一台高精度球面2自由度冗余驱动并联机器人样机。为该类机构最终推向实际应用奠定基础。

中文关键词： 2自由度；球面机构；性能指标；优化设计；误差分析

英文摘要： Spherical 2-DOF parallel manipulator, which can be used to locate spacial vector, possessing wide application prospects.Three kinds of typical machine of spherical 2-DOF parallel manipulator were decided;effective design space of the manipulator was distinguished by the method which searching whether reachable workspace exists via computer program;as a basis,the relationship between reachable workspace,singular configulation and mechanical bar dimension parameter was studied;Mechanical dimension optimum design method of the manipulator has been presented, which considered both global performance index and local performance index, we can obtain relative synthetically optimization mechanical dimension by the method；via the traditional dismantle-bar method, the static equilibrium equations of the mechanism are established, calculating the deformation of the bar by integral method, and then utilizing the micro-deformation and superposition principle,the deformation equations of compatibility are derived,So static full-solutions of the manipulator are obtained via input forces optimization method；the inverse dynamic model of spherical 2-DOF parallel manipulator was established by virtue of Lagrange method,driving moment was optimized by force optimization method and energy consumption optimization method;kinematic track of spherical 2-DOF parallel manipulator was planned by trajectory planning method that acceleration is continuous segmental function and acceleration is combined sine function in Cartesian space;the error model of spherical 5R parallel manipulator was established by virtue of loop circuit incremental method;sperical 2-DOF parallel manipulator with actuation redundancy will be used as all kinds of quickly motion carrier of automatic follow equipment of secondary planet TV signal,spherical 2-DOF parallel manipulator with actuation redundancy sample with hign precision will be studied and made.which lay the foundation for practical application of this kind of manipulator.

英文关键词： 2-DOF；spherical manipulator; performance index;Optimal Design;error analysis