J4  2011, Vol. 45 Issue (9): 1650-1656    DOI: 10.3785/j.issn.1008-973X.2011.09.023
 机械工程

Numeric analysis of mechanics of steel band parallel robot
based on screw theory
AI Qing-lin, HUANG Wei-feng, ZU Shun-jiang
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education;
Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,
Zhejiang University of Technology,　Hangzhou 310014, China
 全文: PDF  HTML

Abstract:

A new six degrees of freedom (DOF)steel band parallel robot (SBPR) was invented to overcome the existing shortcomings (such as small work space, complicated singularity and forward solution) and broaden the application field of parallel robots. The structure, principle of SBPR and the key technologies of steel band motion pair were analyzed. The finite element models of different steel bands were established to simulate their instability and identify the instability force with different structure parameters. Based on screw theory, the mechanic models of SBPR were established to calculate the forces acting on the steel band and acquire the influences of different postures and structures, which provided theory basis for optimizing the structure and motion parameters. The results show that the steel band with arc-shaped cross section has strong ability of supporting pressure load. With the increasing of the arc angle and thickness of the steel band, the instability force increases. With the steel band length increasing, the instability force decreases. When other structure parameters are constant and the load force is 400 N, the circumcircle radius of the moving platform is 210 mm, the motion range of the moving platform along Z axis is limited by the length of steel band in the reel parts, the motion range of the moving platform along Y axis is -745-680 mm, the motion range of the moving platform along X axis is -675-675 mm, the angle of the moving platform around Z axis is between -87 ° and 87 °, the angle of the moving platform around Y axis is between -77 ° and 77 °, and the angle of the moving platform around X axis is between -90 °and 66 °.

 : TH 123

 服务 把本文推荐给朋友 加入引用管理器 E-mail Alert 作者相关文章

#### 引用本文:

AI Qing-lin, HUANG Wei-feng, ZU Shun-jiang. Numeric analysis of mechanics of steel band parallel robot
based on screw theory. J4, 2011, 45(9): 1650-1656.

#### 链接本文:

 ［1］ STEWART D. A platform with six degree of freedom［C］∥ Proceedings of the Institute of Mechanical Engineers. London:IME, 1965, 180:371-386． ［2］ MERLET J P. Parallel robots［M］. Dordrecht, The Netherlands: Kluwer Academic Publishers,2000:1-20． ［3］ 胡国胜. 并联机器人的工作空间研究现状［J］. 仪器仪表用户, 2004, 11(6): 1-3． HU Guosheng. Current status of workspace in parallel manipulator research［J］. Electric Instrumentation Customer, 2004, 11(6): 1-3． ［4］ 郑亚青, 刘雄伟. 绳牵引并联机构的研究概况与发展趋势［J］. 中国机械工程, 2003, 14(9): 808-810． ZHENG Yaqin, LIU Xiongwei. Research survey and development tendency of wiredriven parallel manipulators［J］. China Mechanical Engineering, 2003, 14(9): 808-810． ［5］ KIM H S, CHO Y M, LEE K.II. Robust nonlinear task space control for a 6DOF parallel manipulator ［C］∥IEEE Conf on Decision and Control.Nevada USA:IEEE,2002, 2: 2062-2067． ［6］ BEHZADIPOUR S, KHAJEPOUR A. A new cablebased parallel robot with three degrees of freedom［J］. Multibody System Dynamics, 2005, 13(4): 371-383． ［7］ STUMP E, KUMAR R V. Workspace delineation of cableactuated parallel manipulators［C］∥ Proceedings of the ASME Design Engineering Technical Conference.［S.l.］:ASME, 2004, 2B: 1303-1310． ［8］ 王伟, 傅新, 谢海波, 等. 基于AMESim的液压并联机构建模及耦合特性仿真［J］.浙江大学学报:工学版, 2007, 41(11): 1875-1880． WANG Wei, FU Xin, XIE Haibo, et al. Modeling of AMESim based hydraulic parallel mechanism and simulation of its coupling characteristics［J］. Journal of Zhejiang University:Engineering Science, 2007, 41(11): 1875-1880． ［9］ 黄真,赵永生,赵铁石. 高等空间机构学［M］. 北京：高等教育出版社, 2006:110-111． ［10］ 蔡自兴.机器人学［M］.北京：清华大学出版社,2000:48-49．
 [1] 艾青林, 祖顺江, 胥芳. 并联机构运动学与奇异性研究进展[J]. J4, 2012, 46(8): 1345-1359. [2] 陈晓平俞小莉,胡如夫,李建锋. 采用缺口件等效与渐进插值法预测构件疲劳极限[J]. J4, 2012, 46(3): 542-548. [3] 周磊, 余忠华. 基于弹塑性理论的T型导轨校直模型研究[J]. J4, 2010, 44(2): 368-372.