薄壁异型零件装配机器人的并联手腕设计与分析-design and analysis of parallel wrist for assembly robot of thin-walled special-shaped parts.docx

华中科技大学硕士学位论文摘要针对薄壁异型零件机器人化装配的重要性与复杂性以及目前机器人装配的技术 不足，中固工程物理研究院机械制造工艺研究所进行了薄壁异型零件装配机器人的 预先研究。机器人手腕是该装配机器人的关键机构。本文围绕手腕设计与应用中的 有关问题进行了研究，内容包括并联机构的构型设计、并联手腕的运动学分析和奇 异性分析以及相关实验。根据空间机构的组成原理，结合典型并联机构的结构特点，探讨了一般并联机 构和具有被动链并联机构的构型设计方法；分析了并联机构与其支链在自由度与约 束方面的本质联系，并根据等价并联机构之间的联系，总结了并联机构构型设计与 演变的基本法则。作为设计实例，给出了并联手腕的两种设计方案及其具体结构。{根据并联手腕的具体结构建立了数学模型，得到了位置正反解方程，并在较小转角条件下进行了简化，简化结果表明手腕的输入输出具有简单的线性关系。 应用螺旋理论对手腕进行了自由度分析，分析结果表明手腕具有确定的运动。利用该手腕的逆雅克比矩阵进行了奇异性分析，分析结果表明满足奇异性条件的两转角不能同时取得较小值，即证明了在小操作空间内该手腕无奇异性的结论。 在忽略调节零件姿态时动平台对测试点影响的前提下，对并联手腕进行了简单实验。实验结果表明手腕的输入输出确实具有简单的线性关系；同时该实验还验证 了结构设计的合理性与奇异性分析的正确性。理论分析与实验结果表明该并联手腕满足使用要求。jf+)’关键词：装配机器人、—，一并联机构运动学分析螺旋理论自由度奇异性～ 一～．～一～华中科技大学硕士学位论文ABSTRACTThe wrist of robot is the key mechanism for the flimsy and curve parts to be assembled．Around design and application of the wrist this thesis studies construct design of parallel mechanisms，kinematics analysis and singularity analysis of the wrist，as well as correlative experiment．Based on the constitute principle of spatial mechanism，the methods of synthesizing the freedom of the general parallel mechanisms and the parallel mechanisms with passive links are presented with respect of their structure character．the essential relation ofparallel mechanism and its links in degree of freedom(DOF)and constrain is analyzed byscrew，and the basic principle of construct design and innovation of parallel mechanisms is summarized according to the relation of equivalent parallel mechanisms．As a example， two schemes and structures ofthe wrist are introduced for the special need．The kinematics model of the wrist is established，including its positive and inverse kinematics formulas simplified 011 the small space condition．The simplified formulas indicate the linear relation between inputs and outputs．The singularity analysis by screw theory of the wrist on the original position indicates that the movement of the wrist is ascertainable，and the singular／ty analysis with the reverse Jacobin matrix proves simply that the wrist h