Motion-Force Interaction Performance Analyses of Redundantly Actuated and Overconstrained Parallel Robots With Closed-Loop Subchains
Motion-Force Interaction Performance Analyses of Redundantly Actuated and Overconstrained Parallel Robots With Closed-Loop Subchains
复制标题
具有闭环子链的冗余驱动和过约束并联机器人的运动力交互性能分析
DOI：
10.1115/1.4046439
复制
发表时间：
2020
影响因子：
3.3
通讯作者：
Liu Xin-Jun
中科院分区：
文献类型：
--
作者：
Meng Qizhi;Xie Fugui;Liu Xin-Jun
具有闭环子链的冗余驱动过约束并联机器人的运动-力相互作用性能分析是一个开放的问题，考虑了两个挑战：(A)当移动平台受到不确定载荷时，如何在同一水平上考虑所有内扳手；(B)如何揭示闭环子链内部结构参数对机器人性能的影响。针对这一问题，基于块作用策略，本文提出了一种新的基于螺旋的方法来分析这种并联机器人的运动-力交互性能。性能的两个方面被关注，即远端和近端运动力的交互作用。提出的两个指标分别侧重于反映承载能力和运动传递能力。为了评价并联机器人在某一位姿下的综合性能，定义了一种局部相互作用指数(LII)，即最小远、近端相互作用性能指标的最小值。通过对几个具有闭环子链的冗余驱动过约束并联机器人的运动-力相互作用分析，验证了所提指标的可行性和有效性。
Motion–force interaction performance analyses of redundantly actuated and overconstrained parallel robots with closed-loop subchains are an open problem considering two challenges: (a) how to take all the internal wrenches into account at the same level when the mobile platform suffers uncertain loads and (b) how to disclose the influence of the structural parameters inside the closed-loop subchains on the robot’s performance. To tackle this problem, based on the blocking-and-acting strategy, this paper proposes a new screw-based method to analyze the motion–force interaction performance of such parallel robots. Two aspects of performance are focused, i.e., the distal and proximal motion–force interactability. The two proposed indices focus on reflecting the load-carrying capacity and the motion-transmission capacity, respectively. To evaluate the comprehensive performance of the parallel robot at a certain pose, a local interaction index (LII) is defined as the minimum value of indices of the minimized distal and proximal interaction performance. The feasibility and validity of the proposed indices are illustrated by the motion–force interaction analysis of some redundantly actuated and overconstrained parallel robots with closed-loop subchains.