Type synthesis of 6-DOF mobile parallel link mechanisms based on screw theory
Type synthesis of 6-DOF mobile parallel link mechanisms based on screw theory
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DOI：
10.1299/jamdsm.2022jamdsm0005
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Siying Long;Tatsuro Terakawa;M. Komori
中科院分区：
文献类型：
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作者：
Siying Long;Tatsuro Terakawa;M. Komori
与串联机器人相比，并联机构具有更高的精度、刚度、速度和有效载荷重量比的优点（Furqan等人，2017年），因此它们被广泛应用于各种领域，包括医疗，机械加工和工厂自动化。然而，并联机构的主要缺点之一是其有限的工作空间。为了解决这个问题，许多研究人员试图通过解决这些机构的非线性和复杂的输入-输出关系来最大化其可用工作空间。Carrestrial等人（2000）应用拟牛顿和Hessian更新方法来找到最大化工作空间体积的最佳结构参数。Lou等人（2005年）采用受控随机搜索方法来最大化有效的常规工作空间。Hosseini等人（2011年）将雅可比项按长度单位划分，以产生均匀扭曲阵列，便于工作空间优化。Herrero等人（2005年）提出了一种几何和离散化相结合的方法，用于获得包含最大几何体积的最有用的工作空间。Che等人（2020）采用差分进化算法解决与最大化变速器位置工作空间的有效体积相关的设计问题。Shin等人（2011年）应用田口方法选择工作空间优化中最具影响力的参数。然而，从宏观的角度来看，并联机构的固定基座仍然限制了其可用的工作空间。考虑到这个问题，一些研究人员建议将固定基座改为可动基座，以实现无限的工作空间，并提出了两种类型的可动并联机构。一种是固定在轮式移动的机器人上的并联机构，如图1（a）所示（Chong等人，2020; Fujita和Sugawara，2014; Moosavian等人，2009; Yamamoto和Yun，1996）。这种类型实现了无限的工作空间，因为可以通过移动移动的机器人来改变基座在地面上的位置和方向。在该类型中，基于螺旋理论的六自由度移动的并联机构的输出平台型综合
Comparing with serial robots, parallel mechanisms have the advantages of higher accuracy, rigidity, velocity, and payload-to-weight ratio (Furqan et al., 2017), so that they are widely used in a wide variety of fields, including medicine, machining, and factory automation. However, one of the main drawbacks of parallel mechanisms is their limited workspace. To solve this problem, various researchers have tried to maximize their available workspace by addressing the nonlinear and complex input-output relationships of those mechanisms. Carretero et al. (2000) applied the quasi-Newton with Hessian update method to find the optimal structural parameters for maximizing workspace volume. Lou et al. (2005) employed a controlled random search method to maximize the effective regular workspace. Hosseini et al. (2011) divided Jacobian entries by units of length to produce a homogeneous twist array for the convenience of workspace optimization. Herrero et al. (2005) proposed a combined geometrical and discretization method for obtaining the most useful workspace containing the largest geometric volume. Che et al. (2020) employed the differential evolution algorithm to solve design problems related to maximizing the effective volume of transmission positional workspace. Shin et al. (2011) applied the Taguchi method to choose the most influential parameters in the optimization of workspace. However, from a macroscopic perspective, the fixed base of a parallel mechanism still physically limits its available workspace. With this issue in mind, several researchers suggested changing the fixed base into moveable bases in order to achieve unlimited workspace, and two types of moveable parallel mechanism types have been proposed. One is a parallel mechanism fixed on a wheeled mobile robot, as shown in Fig. 1(a) (Chong et al., 2020; Fujita and Sugawara, 2014; Moosavian et al., 2009; Yamamoto and Yun, 1996). This type achieves unlimited workspace because the position and orientation of the base on the ground can be changed by moving the mobile robot. In this type, the output platform Type synthesis of 6-DOF mobile parallel link mechanisms based on screw theory