| Modeling, Simulation, Analysis, and Decision |
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| Research on number and position distribution of ropes for a class of rigid-flexible cooperative hybrid robot mechanism |
| ZHANG Jun-bao1, HOU Hong-juan1, CUI Guo-hua1,2, LIU Jian3 |
1.College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China
2.Intelligent Robot Research and Development Center, Shanghai University of Engineering Science, Shanghai 201620, China
3.Engineering and Applied Technology Research Institute, Fudan University, Shanghai 200433, China |
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Abstract With the continuous improvement of the polishing and grinding process automation level, the parallel and hybrid robot mechanisms are widely used in the polishing and grinding process. In order to meet the needs of continuous contact operations such as polishing and grinding process, a class of 3-DOF(degree of freedom) rigid-flexible cooperative hybrid robot mechanism was used as the main feed mechanism of the polishing and grinding equipment. The kinematics models of three kinds of rigid-flexible cooperative hybrid robot mechanisms with different numbers and positions of ropes were established, and the position inverse solutions of the rigid part and the rope part were obtained by using the closed vector method. By using the method of derivation of position inverse solutions, the speed Jacobian matrixs of the 3UPS and the rope part were obtained. The D-H coordinate system of the UP branch chain was established, and the speed Jacobian matrix of the UP branch chain was obtained by using the differential transformation method. Then, the dimensionally unified speed Jacobian matrixs of three kinds of rigid-flexible cooperative hybrid robot mechanisms were obtained. Using the MATLAB software, the performance indexes of this class of rigid-flexible cooperative hybrid robot mechanism were solved. Through the comparative analysis of each performance index, the numbers and positions of ropes of rigid-flexible cooperative hybrid robot mechanism that could meet the requirements of different polishing and grinding working conditions were obtained. The research result provides a theoretical basis for the number selection and arrangement of ropes of rigid-flexible cooperative hybrid robot mechanism under different working conditions.
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Received: 04 December 2019
Published: 28 June 2020
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一类刚柔协作混联机器人机构的绳索数量和位置分布研究
随着抛光、打磨工艺自动化水平的不断提高，并、混联机器人机构广泛应用于抛光、打磨工艺。为满足抛光、打磨等连续接触式作业的要求，将一类三自由度刚柔协作混联机器人机构作为抛光、打磨设备的主进给机构。通过建立3种绳索数量和位置分布不同的刚柔协作混联机器人机构的运动学模型，运用封闭矢量法分别求得其刚性部分和绳索部分的位置逆解,运用对位置逆解求导的方法得到了3UPS和绳索部分的速度雅克比矩阵;建立了UP支链的D-H坐标系，并运用微分变换法求得UP支链的速度雅克比矩阵，进而求得了3种刚柔协作混联机器人机构的量纲统一速度雅可比矩阵。利用MATLAB软件对该类刚柔协作混联机器人机构的各项性能指标进行求解，通过对比分析各项性能指标，得到了能够满足不同抛光、打磨工况要求的刚柔协作混联机器人机构的绳索数量及位置分布。研究结果为不同工况下刚柔协作混联机器人机构的绳索数量选取和布置提供了理论依据。
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