计及安装角的六自由度平台虎克铰干涉计算模型

doi:10.13229/j.cnki.jdxbgxb.20230112

摘要/Abstract

摘要：

为了拓展六自由度平台的可达空间，提出了计及安装角参数的虎克铰干涉计算方法。根据虎克铰与相邻结构之间的位姿关系，对上、下铰座分别建立了计及安装角的虎克铰转角计算模型。采用仿真法求解了斜棱柱虎克铰的转角范围，拟合了描述虎克铰工作空间的非参数模型，建立了斜棱柱虎克铰干涉判定条件。通过分析动平台平动轨迹，探讨了铰座运动与安装角之间的变化规律。将虎克铰的干涉计算与六自由度平台的运动学反解结合，通过动平台在极限位置的运动试验，验证了虎克铰干涉计算模型在拓展六自由度平台极限位姿中的有效性。

关键词: 机械设计及理论, 六自由度平台, 铰座约束, 避障, 工作空间

Abstract:

To expand the reachable space of the 6-DOF platform， an interference calculation method of Hooke joint considering the installation angle parameters was proposed. According to the position and attitude relationship between Hooke joint and adjacent structures， the calculation models of Hooke joint angle including installation angle were established for upper and lower joint seats respectively. The rotation angle range of the oblique prism Hooke joint was solved by simulation method， the nonparametric model describing the workspace of Hooke joint was fitted， and the judgment conditions for interference of the oblique prism Hooke joint were established. By analyzing the translation track of the moving platform， the variation law between the joint movement and the installation angle was discussed. Combining the interference calculation of the Hooke joint with the inverse kinematics solution of the 6-DOF platform， the interference calculation model of the Hooke joint in extending the limit position and posture of the 6-DOF platform was verified through the motion test of the moving platform at the limit position.

Key words: mechanical design and theory, 6-DOF platform, joint constraint, obstacle avoidance, workspace

中图分类号:

TP242

刘洋,江涛. 计及安装角的六自由度平台虎克铰干涉计算模型[J]. 吉林大学学报(工学版), 2024, 54(6): 1519-1527.

Yang LIU,Tao JIANG. Interference calculation model of Hooke joint of 6-DOF platform considering installation angle[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(6): 1519-1527.

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参数	A₁	A₂	A₃	A₄	A₅	A₆
Error/（°）	33.8	25.5	3.9	23.1	4.2	11.5
RX/（°）	-0.8	19.7	18.9	-20.4	-18.0	0.7
RY/（°）	10.7	0.5	-23.2	1.9	-24.4	33.1

参数	A₁	A₂	A₃	A₄	A₅	A₆
error_RY-2/（°）	31.8	23.4	0.8	21.8	0.0	9.4
error_RY16/（°）	39.6	34.8	28.3	35.2	30.3	28.2
error_RX-8/（°）	33.3	26.7	1.9	11.3	4.5	11.8

参数	B₁	B₂	B₃	B₄	B₅	B₆
error_RY-2/（°）	33.8	25.7	4.3	23.0	3.7	11.5
error_RY16/（°）	33.7	23.5	1.9	24.5	6.8	12.0
error_RX-8/（°）	34.2	25.2	2.5	22.2	3.6	12.7