2RUUS机构动力学性能分析

JOURNALOFMECHANICALENGINEERING4511200911Vol.45No.11Nov.2009DOI10.3901/JME.2009.11.0012-RUUS*1112.(1.0660042.066004)2-RUUS2-RUUS2-RUUSTP24AnalysisofDynamicPerformanceof2-RUUSMechanismYANGYulin1HUANGShijun1LIUXiping1GUOXijuan2(1.KeyLaboratoryofFundamentalScienceofMechanicalStructureandMaterialsScienceUnderExtremeConditionsforNationalDefense,YanshanUniversity,Qinhuangdao066004;2.CollegeofInformationScienceandEngineering,YanshanUniversity,Qinhuangdao066004)AbstractConfigurationof2-RUUSmechanismisanalyzed.Theinfluencecoefficientmatrixofthemechanismisobtainedbyusingvirtualmechanismmethod.Simulationcurvesofinputspeedandinputaccelerationofmechanismareobtainedbyadoptinginfluencecoefficientmethodanddifferentialcoefficientmethod,andthecorrectnessofinfluencecoefficientmatrixisverified.Meanwhile,theunequalequationexpressingtherelationbetweenrobotmechanisminertiaforceandmechanismsizeandqualityandtheglobalperformanceindexofinertiaforcearegiven.Thisperformanceindexcanbeusedtoanalyzetheinfluenceofmechanismsizeandqualityonthedynamicperformanceofmechanism.Atlast,2-RUSSmechanismsdynamicperformanceisanalyzedbyusingglobalperformanceindicesofaccelerationandinertiaforce,andtherelativeperformanceatlasisobtained.Therelationshipbetween2-RUUSmechanismsizeanddynamicperformance,andthesizeofmechanismwithgooddynamicperformanceareobtainedthroughanalyzingperformanceatlas.Keywords2-RUUSmechanismInfluencecoefficientmatrixAccelerationInertiaforce0*6651982Jacobian[1-6]JacobianGOSSELIN[7]1991Jacobian1999[8]JacobianJacobian2008112200901Jacobian45112Hessian2004GUO[9]JacobianHessian6[10]GUO[11-14][9-10]GUO[15]4-RR(RR)R[16-17]XI[18-19]2005[20]3-RRRT2005[21]Jacobian2-RUUS2-RUUS2-RUUS12-RUUS2-RUUS2xy112-RUUS1231OxyzPHGDKDKHGPA1PA2OC1OC2PO12A1B1C1A2B2C2S1S2A1B1B1C1IIIDGKH1DGz1234236POxyz()P00H2009112-RUUS3HPOyxA11110cossinxyzAARARH===+(1)RB11221/2221/21122211110()()()()xyzyyzzBBLHRrrBBAABL==+++=(2)LA1B1r221/2111222221111()yzsLHrRAsrsAL=++=++(2){2221211211111()(44)zzzzBsAsAAs=+}()1/2222222111111(4)44zssrAs+B1z(2)B1yC11221/2110()0xyzCCRLHrC==++=(3)A2222cos0sinxyzARAARH===+(4)B222222222221/2221/2220()()()()yxxzzxzBBAABLBLHrRrB=+==++(5)221/2122222222122()xzsLHrRAsRsAL=++=++(5){2222222222221()(44)zzzzBsAsAAs=+}1/2222222221221(4)(44)zssrAs+Bz(5)By221/2222()00xyzCRLHrCC=++==(6)22-RUUS336iAiBiC46()(1,2)iji=SijjRj(1,2,,6j=)Oxyz2.1()()()TTT(1)(1)(1)123100100100===SSS1()()()TTT(1)(1)(1)456010001010===SSS()()()()()()(1)T(1)44(1)T(1)55(1)T(1)66010001100===SPRSPRSPR1(1)(1)(1)(1)(1)(1)(1)112233111000000()()()000101010001100010=GSPRSPRSPR2()()()TTT(2)(2)(2)3010010010===SSS(7)22C212245114()()()TTT(2)(2)(2)456100001010===SSS()()()()()()(2)T(2)44(2)T(2)55(2)T(2)66100001010===SPRSPRSPR2()()()(2)(2)(2)(2)(2)(2)(2)112233000111000101000010100001010=GSPRSPRSPR2-RUUSHqG()T1(1)1(2)1(1)1(1)1(2)1(2)13:3:5:4:4:6:()()()()()()()Hq=GGGGGGG(9)(1)11:()G(1)1()G12.2[22]1H11H16()()()()()()(1)(1)(1)111(1)(1)(1)(1)(1)12122(1)(1)(1)(1)(1)1313311(1)(1)(1)(1)(1)14144(1)(1)(1)(1)(1)15155(1)(1)(1)(1)(1)16166000=SSPRSSSSPRSSSSPRHSSSSPRSSSSPRSSSSPR()()()()()()(1)(1)(1)166(1)(1)(1)266(1)(1)(1)36616(1)(1)(1)466(1)(1)(1)566(1)(1)(1)666000000000000000=SSPRSSPRSSPRHSSPRSSPRSSR2[22]()()()()()()()TT()1()():rrrrHHiqqi=LgGHgr=1,2(10)()()()()1()rrHHqq=gGG(11)(10)(11)()(1)3L()(2)3L()(1)5L()(1)4L()(2)4L()(2)5L6()1:HiGi61()11)(G32()12)(G336(1)1()G()12)(G544666L(10)*[23]qHH()()()()(()()())(1)(2)(1)(2)(3)(4)3354:4:6:::::qHmnmnmnmnmnmnmn=HLLLLLL(12)()()()*qHHqqH=HGH(13)2.32-RUUSR=30cmL=100cmr=8cmP()T110000=v()T000000=a(14)12q11q22q2a2b(15)2c2d()1=HqqGv(14)()=TqHHqqGaqHq(15)1P()()B(8)000P12tn112009112-RUUS52tn(16)tnB1(17)2311()()()nnnnnBtBtvttt=(16)11()()()nnnnnvtvtattt=(17)B(tn)nv(tn)B1()B323xy233.1[]atn19451161ddJwJwWkW=(18)JW(18)Jk1Jk10JJR=1080cm(5cm)L=95210cm(8cm)212cm(18)44L9cmR=1030cmR=1020cm9cm28cm200cm10cm912cm200cm80cm3.2[22]THHqq=+aqHqGq(19)T00hhchiHhs=#IFIa0(20)0hcIc30I64000zyhzxyx=(21)hg3g333g33,xyg(),xyxyyx=g3h3ghs2009112-RUUS7000001010001000100010100000hxyz=++(22)xhhyqz==Gq(23)123000001010001000100010100000h=++GqGqGq(24)iGHqGi1,2,3i=[]0h=0h=66[]R6R(25)00hch=II66hRI(26)0T0[]iHHHhsqhhsq=FIqHqIIGq(27)0T1023[]iHHhsqiHHhsqihHhq===FIqHqFIGqFIGq(28)()0T0T100232123[]2iHHHhsqhsqiHHHhsqhsqiHhhHhq===++FIqHqIHqqFIGqIGqFIGGGIGq(29)()0TiHqHhsqHhh++FIGqHqqI()02[]HqhsqH++IGqHq()21232Hhq++GGGIGq(30)(30)JacobianHessian(I)1=q1=qhI3h=I06hs=I(30)()1236HHHGHqqq+=++++rGHGGGG(31)HqHrr6(r1,2,,6r=)HqHrrr()1232Hhqq+++GGGGG1ddGHWGH=r(32)GH+(32)GH+rGH+(31)(32)2-RUUSR=1080cmL=95210cm9cm55L=185207cmR=6580cm5h451184(1)(2)2-RUUS(3)2-RUUS[1]SALISBURYJK,CRAIGJJ.ArticulatedhandsforcecontrolandkinematicIssues[J].Int.J.ofRobotRes.,1982,1(1)4-17.[2]ASADAH.Ageometricalrepresentationofmanipulatordynamicsanditsapplicationtoarmdesign[J].Trans.ofASMEJ.ofDynamicSystems,MeasurementandControl,1983,105(3)131-142.[3]YOSHIKAWAT.Dynamicmanipulabilityofrobotmanipulators[J].J.Robot.Syst.,1985,2(1)113-124.[4]YOSHIKAWAT.Manipulabilityofroboticmechanisms[J].Int.J.ofRobot.Res.,1985,4(2)3-9.[5]ANGELESJ,LPEZ-CAJNCS.Dexterityindexofserial-typeroboticma