Design and analysis of hybrid mechanical systems

混合机械系统的设计与分析

• 批准号: RGPIN-2016-06389
• 负责人: Baron, Luc
• 金额: $ 2.4万
• 依托单位: École Polytechnique de Montréal
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638368
• 关键词: Design; analysis; hybrid; mechanical; systems

In many manufacturing situations, the handling of parts, or materials, is often performed by reprogrammable mechanical devices such as robotic manipulators, i.e., serial chains of links coupled by actuated joints, and thus, called serial manipulators (SMs). Alternatively, parallel manipulators (PMs) are made of two main bodies coupled by several serial chains on which only some joints are actuated, while others are left passive. Although the presence of the latter, the whole mechanism is still drivable by the actuated joints alone under some geometric conditions. The mechanical constraints coming from the passive joints provide very interesting behaviours relative to its serial counterpart, and hence, could be used in situation where the characteristic of serial ones do not satisfy the application requirements. Consequently, PMs could have a higher load-carrying capacity, a higher positioning accuracy or higher velocities, but also a smaller workspace, more problems of singularities, relative to serial ones of similar dimensions. These theoretical expectations coming from the differential calculus are all conditionals to a well understanding of the motion transmission right from the beginning of the design process and a careful control of joint fittings. Whenever a mechanism does not fall into any of these particular two categories, they are all classified by default as hybrid manipulators (HMs), which thus encompass all other possible kinematic architectures. Recently, the journal of Mechanism and Machine Theory published a review paper on the design of parallel manipulators and mentioned that “

在许多制造情况下，零件或材料的处理通常由可重新编程的机械设备执行，例如机器人操纵器，即由驱动关节耦合的串联链接链，因此称为串联操纵器（SMs）。另外，并联机械臂（pm）由几个串联链耦合的两个主体组成，其中只有一些关节被驱动，而其他关节则处于被动状态。在一定的几何条件下，尽管存在后者，整个机构仍然是由驱动关节单独驱动的。来自被动关节的机械约束提供了相对于其串行对应物非常有趣的行为，因此，可以在串行关节的特性不满足应用要求的情况下使用。因此，pm可以有更高的承载能力，更高的定位精度或更高的速度，但也有更小的工作空间，更多的奇点问题，相对于类似尺寸的系列。这些来自微分学的理论期望都是从设计过程开始就对运动传递的充分理解和对接头接头的仔细控制的条件。当一个机构不属于这两个特定类别中的任何一个时，默认情况下，它们都被归类为混合机械臂（HMs），从而包含所有其他可能的运动学体系结构。最近，《机械与机器理论》杂志发表了一篇关于并联机器人设计的综述论文，并提到“