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并聯(lián)機器人中柔順關(guān)節(jié)代替?zhèn)鹘y(tǒng)關(guān)節(jié)可行性分析
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國家自然科學基金項目(51575006)


Feasibility Analysis of Compliant Joints Instead of Traditional Joints in Parallel Robot
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    摘要:

    在3—RRR平面并聯(lián)機器人中,驅(qū)動桿和連桿之間的傳統(tǒng)關(guān)節(jié)被柔順關(guān)節(jié)代替,,形成含有柔順關(guān)節(jié)的并聯(lián)機器人,。基于含有柔順關(guān)節(jié)的并聯(lián)機器人動力學模型和傳統(tǒng)關(guān)節(jié)并聯(lián)機器人動力學模型,,從理論上求解并對比了在并聯(lián)機器人中加入柔順關(guān)節(jié)前后動平臺的軌跡,、驅(qū)動力矩以及驅(qū)動桿的轉(zhuǎn)角變化,同時通過實驗對比了兩者的動平臺軌跡,,驗證了大范圍宏觀運動的3—RRR并聯(lián)機器人中柔順關(guān)節(jié)代替?zhèn)鹘y(tǒng)關(guān)節(jié)的可行性,,為柔順關(guān)節(jié)并聯(lián)機器人的進一步研究打下了基礎(chǔ)。

    Abstract:

    A parallel robot with compliant joints was formed by compliant joint substituted for the traditional joints between the driving rods and the connecting rods in a 3—RRR planar parallel robot. Based on the dynamics models of the parallel robot with compliant joints and the traditional-joint parallel robot, the trajectories of the moving platform and the angles change of driving rods were solved theoretically and compared with each other, and the results showed that both of theoretical calculation curves were very close, but there were high-frequency low-amplitude vibrations in the parallel robot with compliant joints and the maximum relative difference of trajectories of moving platform and of the angles change of driving rods were 1.02% and 1.6%, respectively. At the same time, the maximum driving torques of both robots were compared, and the result was that the maximum driving torques of the parallel robot with compliant joints were less than that of the conventional-joint parallel robot. Simultaneously, the trajectories tracking experiments of the parallel robot with compliant joints and the traditional-joint parallel robot were made respectively, which were compared with the ideal circular path, the result showed that the two experimental trajectories changed both basically consistent, but the magnitudes were different. The two experimental trajectories were compared with each other, and the relative difference was 3.91%. The theoretical and experimental studies proved that it was feasible and effective that the traditional joints were substituted by compliant joints in the parallel robot, which laid foundation for further study of parallel robot with compliant joints.

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李淵,余躍慶.并聯(lián)機器人中柔順關(guān)節(jié)代替?zhèn)鹘y(tǒng)關(guān)節(jié)可行性分析[J].農(nóng)業(yè)機械學報,2016,47(4):343-348. Li Yuan, Yu Yueqing. Feasibility Analysis of Compliant Joints Instead of Traditional Joints in Parallel Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(4):343-348.

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  • 收稿日期:2015-09-11
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  • 在線發(fā)布日期: 2016-04-10
  • 出版日期: 2016-04-10
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