冗余驱动多操作模式并联机器人机构设计方法研究

With the development of manufacturing industry, in some important technical fields, large-scale structural components and large equipment should be processed or maintained on site. This poses an urgent demand on multifunctional equipment with task adaptability and high performance. Parallel mechanisms with multiple operation modes have the advantages of compact structure and high stiffness, they can also switch into different operation modes to accommodate different task requirements. However, the types of multimode parallel mechanisms proposed so far are very limited and cannot satisfy the task requirement of on-site process. On the other hand, redundant actuation should be used to control the reconfiguration of the mechanism, which creates challenge for conducting the motion/force transmissibility analysis. This project carries out the structural design of parallel mechanisms with multiple operation modes based on the task feature analysis for on-site process. Redundant limbs are added to realize the reconfiguration control. Unified kinematic model for the mechanisms will be established. The motion/force transmissibility taking into account the features of redundant actuation and multiple operation modes will be derived, and used to optimally design the mechanisms. A prototype will be developed to carry out experiments. The research works of this project will lead to substantial contribution to the design method of redundantly-actuated multimode parallel robots and their practical application in modern technical fields.

随着制造业的发展，一些重大技术领域存在大型的结构件与设备需要现场加工、维修，对具有任务适应性、多功能性的高性能装备需求迫切。多操作模式并联机构既具有结构紧凑、刚度好等优点，又能针对多任务需求，切换至不同的操作模式，实现一机多用的功能。然而，目前多操作模式并联机构构型匮乏，已有构型无法满足现场加工任务需要。多操作模式并联机构实现构型切换需引入冗余驱动，这也给机构的运动/力传递分析带来挑战。本项目将在分析现场加工任务特征的基础上，提出多操作模式并联机构的创新设计；采用添加冗余驱动支链的方式实现机构重构控制；进行机构在不同模式下运动学的统一建模；建立考虑冗余驱动与多操作模式特点的运动/力传递性能评价指标体系，完成机构的尺度优化设计；开发一台物理样机进行实验研究。本项目的研究工作，对于建立面向任务的冗余驱动多操作模式并联机器人设计方法，促进其在现代技术领域的应用具有重要意义。

现代生产领域对具有任务适应性、多功能性的高性能装备需求迫切。多操作模式并联机构既具有结构紧凑、刚度好等优点，又能针对多任务需求，切换至不同的操作模式，实现一机多用的功能。然而，目前多操作模式并联机构构型匮乏，已有构型无法满足现场加工任务需要。多操作模式并联机构实现构型切换需引入冗余驱动，这也给机构的运动/力传递分析带来挑战。本项申请在分析现场加工任务特征的基础上，提出了多操作模式并联机构的构型创新设计，包括利用分支间约束奇异实现运动分岔的多操作模式并联机构设计、引入可重构关节实现多操作模式的并联机构设计。研究了多操作模式并联机构的驱动配置方案。开展了多操作模式并联机构统一运动学建模、运动/力传递指标分析、刚度分析、尺度优化设计等。研制了一台多操作模式并联机器人样机，验证了理论研究结果的正确性和合理性。相关研究成果目前在本领域国内外主流期刊上发表论文共9篇，授权专利6项。项目研究成果对我国多操作模式并联机器人装备的自主创新有重要的理论指导意义。