مقایسه عملکرد کینتواستاتیکی مکانیزم‌های موازی کروی مستخرج از سنتز نوعی با مدل‌سازی لقی در مفاصل غیر فعال

نوع مقاله : مقاله پژوهشی

نویسندگان

1 محقق، آزمایشگاه تعامل انسان و ربات، دانشگاه تهران، تهران، ایران

2 آزمایشگاه تعامل انسان و ربات-دانشکده برق و کامپیوتر-دانشگاه تهران

3 مهندسی مکانیک، مجتمع دانشگاهی مواد و فناوری های ساخت، دانشگاه صنعتی مالک اشتر، تهران، ایران

چکیده

از مکانیزم موازی کروی برای دوران جسم حول یک نقطه ثابت استفاده می‌شود. تاکنون آرایش‌های سینماتیکی مختلفی برای این ربات با سه درجه آزادی دورانی بدست آمده است. متداولترین ساختار مورد استفاده برای این ربات، آرایش سینماتیکی 3-آر.آر.آر است که ساختاری بیشینه مقید بوده و موجب دشواری‌هایی در ساخت و مونتاژ این ربات می‌شود. در این مقاله دو ساختار نابیشینهمقید 3-آر.آر.اِس و 3-آر.اِس.آر مستخرج از سنتز نوعی، از نقطه نظر دقت بر اساس لقی مفاصل با ساختار بیشینه مقید مورد مقایسه قرار گرفته‌اند. بدین منظور ابتدا مدلی برای خطای سکوی متحرک بر مبنای لقی مفاصل معرفی شده است که به یک مسئله بهینه‌سازی محدب منجر می‌شود. سپس بیشینه شش مؤلفه خطای سکوی متحرک در بیش از 1000 جهت‌گیری مختلف از فضای کاری تعریف شده برای هر یک از ربات‌ها محاسبه شده است. نتایج نشان دادند که خطای مجری نهایی به پیکربندی ربات بستگی دارد. همچنین با مقایسه نتایج مشخص شد که ساختار 3-آر.آر.آر خطای جابجایی نقطه‌ای کمتری نسبت به سایرین دارد، در حالی‌که خطای جهت گیری ساختار 3-آر.آر.اِس کمتر از دو ساختار دیگر است که نشان می‌دهد می‌توان از ساختارهای نابیشینه مقید به جای ساختار بیشینه مقید در طراحی این ربات استفاده نمود. در نهایت نیز مقایسه‌ای بین شاخص‌های عملکردی کینتواستاتیکی با مدل ارائه شده صورت گرفته است.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Kinetostatic Performance Comparison of Spherical Parallel Mechanisms Extracted from Type Synthesis with Modeling Clearance in Passive Joints

نویسندگان [English]

  • Seyed Mojtaba Seyed Mousavi 1
  • Mahdi Tale Masouleh 2
  • AhmadReza Khoogar 3
1 Researcher, Human and Robot Interaction Laboratory, University of Tehran, Tehran, Iran
2 Human and Robot Interaction Laboratory, School of Electrical and Computer Engineering, University of Tehran,
3 Department of Mechanical Engineering, Malek Ashtar University of Technology, Tehran, Iran
چکیده [English]

A spherical parallel mechanism is used to rotate a body around a fixed point. Different kinematic arrangements can be obtained for the robot with three degrees of rotational freedom. The most commonly used structure for this robot is the 3-RRR kinematic architecture which is an overconstrained parallel mechanism and causes several problems of mounting the mechanism. In this paper two non[1]overconstrained architectures 3-RRS and 3-RSR are compared with overconstrained one from the accuracy point of view based on the joint clearance. First, a method to obtain a model of moving platform pose (position and orientation) error based on the joint clearance is introduced which leads to a standard convex optimization problem. Then maximum values of six components of the pose error are computed in more than 1000 different configurations within their workspace. It is shown that this displacement is configuration dependent. The obtained results revealed that the 3-RRR spherical parallel mechanism has better position accuracy while in the case of orientation, the 3-RRS SPM has the lowest maximum error between spherical parallel mechanisms under study in the prescribed workspace. It can be concluded that non-overconstrained structures can be used instead of the overconstrained structure. Finally, a comparison was made between the performance indices and the presented method.

کلیدواژه‌ها [English]

  • Spherical Parallel Manipulator
  • Accuracy Analysis
  • Joint Clearance
  • Kinematic Sensitivity

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 52، شماره 5
مرداد 1399
صفحه 1301-1318

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