Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform
Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform
复制标题
四同臂单平台高速高旋转机器人的设计与开发
DOI：
10.1115/1.4029440
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发表时间：
2015-11-01
影响因子：
2.6
通讯作者：
Liu, Xin-Jun
中科院分区：
文献类型：
--
作者：
Xie, Fugui;Liu, Xin-Jun
在图解型综合方法的指导下，提出了一种具有Schonflies运动的并联机构（PKM）。这种PKM由四个相同的臂和一个单一平台组成，具有高旋转能力。采用单平台结构可以降低结构复杂性，提高动力响应。此外，每个手臂的复合平行四边形结构带来了更好的肢体刚度。在此基础上，对PKM进行了优化设计，使其具有较高的转动势。在此过程中，以输入传递指数（ITI）和输出传递指数（OTI）作为性能评价标准（这两个指标可分别用于数值评价pkm的运动和传力性能）。在此基础上，定义了一些其他指标，并绘制了相应的性能图谱，以研究潜在的工作空间。因此，在旋转能力至少达到±90度的前提下，导出了所讨论的PKM的尺寸参数，并确定了工作空间。在此基础上，研制了一种可实现工业生产线高速取放操作的并联机器人X4。
In this paper, a novel parallel kinematic mechanism (PKM) with Schonflies motion has been proposed under the guidance of a graphical type synthesis method. This PKM is composed of four identical arms and a single platform and has high rotational capability. The single-platform structure used in the proposed PKM can reduce structural complexity, increase dynamic response. In addition, the composite parallelogram structure in each arm brings in better limb stiffness. Based on the proposed concept, optimal design is carried out to make the PKM realize its high rotational potential. In this process, an input transmission index (ITI) and an output transmission index (OTI) (the two indices can be used to numerically evaluate motion and force transmission performance of PKMs, respectively) are taken as the performance evaluation criteria. On this basis, some other indices are defined and the corresponding performance atlases are also plotted to investigate the potential workspace. Consequently, dimensional parameters of the discussed PKM are derived on the precondition that the rotational capability should reach at least ±90 deg, and the workspace has also been identified. Based on these foundations, a parallel robot X4 has been developed which can realize high-speed pick-and-place manipulation in industrial lines.