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工程设计学报
工程设计学报  2016, Vol. 23 Issue (6): 544-552    DOI: 10.3785/j.issn.1006-754X.2016.06.004
创新设计     
Gough-Stewart并联机构无奇异位置路径规划
李保坤1,2, 韩迎鸽1, 郭永存1, 曹毅3,4, 王成军1
1. 安徽理工大学 机械工程学院, 安徽 淮南 232001;
2. 安徽理工大学 机械工程博士后科研流动站, 安徽 淮南 232001;
3. 江南大学 机械工程学院, 江苏 无锡 214122;
4. 上海交通大学 机械系统与振动国家重点实验室, 上海 200240
Singularity-free position path planning of the Gough-Stewart parallel mechanism
LI Bao-kun1,2, HAN Ying-ge1, GUO Yong-cun1, CAO Yi3,4, WANG Cheng-jun1
1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China;
2. Postdoctoral Research Station of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China;
3. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
4. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China
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摘要：

奇异位形严重影响并联机器人机构的性能，有必要在获得机构奇异位形分布规律基础上进一步探讨机构的奇异规避问题.主要研究六自由度Gough-Stewart并联机构的奇异轨迹几何性质和无奇异路径规划.构建机构位置奇异轨迹方程，并指出机构位于一系列动平面上的位置奇异轨迹均为具有明显几何性质的二次曲线.基于上述奇异轨迹几何性质，当给定起始点和目标点时，给出机构无奇异运动路径存在与否的一般性判别方法；若存在无奇异运动路径，进一步给出机构位于动平面上的无奇异路径规划具体实现方法；以数值实例验证了上述方法的有效性.研究成果对并联机器人机构的奇异规避问题研究具有重要的理论意义和实际参考价值.
关键词： 并联机构;  奇异位形;  几何性质;  路径规划;  奇异规避    
Abstract:

Singular configuration seriously affects the performance of the parallel robotic mechanisms. It is essential to further investigate the singularity-avoidance problem on the basis of obtaining the singularity distributing regularity of the mechanism. The geometric property of the singularity-locus and the singularity-free path planning of the Gough-Stewart parallel mechanism were explored. The position-singularity locus equation of the mechanism was constructed and the case that every singularity locus in the series of the moving plane was a quadratic curve with obvious geometric property was pointed out. Based on the geometric property of the singularity locus, the general discriminating method for the presence and absence of the singularity-free motion path was represented when the starting point and the object point were given. When the singularity-free motion path was existent, the implemented method for the singularity-free path was provided. The validation of the aforementioned methods was tested and verified by applying numerical examples. The investigation has important theoretical significance and practical reference value for the exploration of the singularity-avoidance of the parallel robotic mechanisms.
Key words: parallel mechanism    singular configuration    geometric property    path planning    singularity-avoidance
收稿日期: 2016-03-23 出版日期: 2016-12-28
CLC:  TH112  
基金资助:

国家自然科学基金资助项目（51605006）；机械系统与振动国家重点实验室开放课题（MSV201407）；安徽省自然科学基金资助项目（1308085QE78）；安徽省高等学校自然科学研究基金重点资助项目（KJ2015A121）.
通讯作者: 韩迎鸽(1978-),女,陕西兴平人,副教授,博士,从事机器人学与控制理论等研究,E-mail:yghan@aust.edu.cn.http://orcid.org//0000-0001-5413-4061     E-mail: yghan@aust.edu.cn
作者简介: 李保坤(1982-),男,安徽舒城人,副教授,博士,从事机构学与机器人技术等研究.
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引用本文:

李保坤, 韩迎鸽, 郭永存, 曹毅, 王成军. Gough-Stewart并联机构无奇异位置路径规划[J]. 工程设计学报, 2016, 23(6): 544-552.

LI Bao-kun, HAN Ying-ge, GUO Yong-cun, CAO Yi, WANG Cheng-jun. Singularity-free position path planning of the Gough-Stewart parallel mechanism. Chinese Journal of Engineering Design, 2016, 23(6): 544-552.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.06.004    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I6/544

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