CAJ | 학술논문

五自由度Exechon机器人被广泛应用于高端制造业,其由具有两转一移三自由度的2-UPR-SPR并联机构和RR串联机构组成(U代表虎克铰,P代表移动副,R代表转动副,S代表球副).目前对Exechon中并联机构的尺度综合鲜见报道.运用基于螺旋理论的运动/力传递性能指标对Exechon中并联机构2-UPR-SPR进行尺度综合.建立机构运动学反解模型,并对机构进行螺旋分析,得到2-UPR-SPR并联机构的局部传递性能指标和全域性能指标,作为机构运动/力传递性能评价准则.结合空间模型法,获得 2-UPR-SPR 并联机构的相关指标性能图谱,且根据工程实际需要确定最优区域,在该区域内选取多组数值实例并进行最优筛选.
오자유도Exechon궤기인피엄범응용우고단제조업,기유구유량전일이삼자유도적2-UPR-SPR병련궤구화RR천련궤구조성(U대표호극교,P대표이동부,R대표전동부,S대표구부).목전대Exechon중병련궤구적척도종합선견보도.운용기우라선이론적운동/력전체성능지표대Exechon중병련궤구2-UPR-SPR진행척도종합.건립궤구운동학반해모형,병대궤구진행라선분석,득도2-UPR-SPR병련궤구적국부전체성능지표화전역성능지표,작위궤구운동/력전체성능평개준칙.결합공간모형법,획득 2-UPR-SPR 병련궤구적상관지표성능도보,차근거공정실제수요학정최우구역,재해구역내선취다조수치실례병진행최우사선.
The Exechon manipulator consists of a 2-UPR-SPR PM (parallel manipulator) which can perform two coupled rotational DOFs and one translational DOF and a RR serial manipulator (where U is a universal pair, P is a prismatic pair, R is a revolute pair, and S is a spherical pair). It has been extensively applied to advanced manufacturing industry. Few literatures focus on the dimensional synthesis of the 2-UPR-SPR PM until now. Based on the concept of screw theory, the dimensional synthesis of the 2-UPR-SPR PM is addressed by taking motion/force transmission into account. The inverse kinematics module and screws of the manipulator are analyzed. The local transmission index and global transmission index are defined as the performance evaluation criterion of the manipulator. With the approach of optimal design space, the atlases of performance indices are presented. The optimum region is obtained according to the demands of practical application requirements, where all the possibilities of the dimensionless parameter of the manipulator are included, and a set of numerical resultants are randomly chosen from the optimum region in order to determine the best parameters that satisfy practical requirements.