摘要
提出了一种安装在工业机器人末端具有3个平动自由度的力控末端执行器,适用于工件狭小空间处的自动化打磨抛光.该执行器采用了3-PPa R并联机构构型,实现了紧凑对称的结构设计.为了提高执行器的定位精度和力控性能,采用了3个音圈电机驱动.首先,通过修正的G-K公式验证了机构的自由度,进行了机构运动学正逆解的分析;其次,建立了机构的雅可比矩阵,讨论了机构的奇异性;最后,利用数值法分析了机构的可达工作空间.研究成果为该执行器机构优化设计和样机研制提供了理论基础.
A three-degree-of-freedom(3-DOF)force-controlled end-effector to realize three translations is proposed.It can be attached to an industrial robot to perform force-controlled polishing task in a narrow space.A3-PPaR parallel robot configuration is selected for achieving compact and symmetrical structure design.In order to improve high positioning accuracy and high force-controlled performance,the end-effector is driven by three voice coil motors.Firstly,the mobility of the 3-PPaR parallel mechanism is verified by the modified G-K formula,the forward and inverse solution of the mechanism is analyzed by position constraint equation.Secondly,the Jacobian matrix is employed to determine the singularity configuration of the mechanism and the workspace is analyzed by a numerical approach.This research work provides theoretical foundation for the design optimization and prototype development of the force-controlled end-effector.
作者
张林
杨桂林
刘立涛
李建钢
柳丽
ZHANG Lin;YANG Gui-lin;LIU Li-tao;LI Jian-gang;LIU li(Faculty of Mechanical Engineering & Mechanics,Ningbo University,Ningbo 315211,China;Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China;Key Laboratory of Robotics and Intelligent Equipment Technology of Zhejiang Province,Ningbo 315201,China)
出处
《宁波大学学报（理工版）》
CAS
2019年第1期38-43,共6页
Journal of Ningbo University：Natural Science and Engineering Edition
基金
NSFC-浙江两化融合联合基金(U1509202)
中科院STS项目(STS-ZJ-2016ZX01)
宁波市国际合作项目(2017D10023)
关键词
力控末端执行器
并联机构
自由度
运动学
奇异性
force-controlled end-effector
parallel mechanism
degree of freedom
kinematics
singularity
