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现代机构学理论

概述:

JIGOUXUESHIJIXIELINGYUDECHUANTONGJICHUXUEKE,QIZHUYAORENWUSHIJIESHIZIRANHERENZAOJIXIEDEJIGOUZUCHENGYUANLI,CHUANGZAOXINJIGOU,YANJIUJIYUTEDINGXINGNENGDEJIGOUFENXIYUSHEJILILUN,WEIXIANDAIJIXIEYUJIQIRENDESHEJI、CHUANGXINHEFAMINGTIGONGXITONGDEJICHULILUNHEYOUXIAOSHIYONGDEFANGFA。YINCISHUO,JIGOUXUEYANJIUSHIXIANDAIJIXIEZHUANGBEISHEJIDEJICHUHEFAMINGCHUANGZAODEYUANQUAN,SHITIGAOGUOJIAZHIZAOYESHUIPINGHEGUOJIJINGZHENGNENGLIDEGUANJIAN。

从机构学角度看,多自由度联动机构分为串联和并联两大类。目前,主要采用串联机构实现多自由度联动,然而并联机构在高承载、高速和高加速、低成本、结构紧凑、动态特性等综合性能要求高的场合更具优势,尤其是根据需要把少自由度并联机构作为一个单元,与串联机构一起组合为并混联机构,从而兼具串、并联机构二者的优势,则具有更广阔的应用前景。然而,与串联机构相比,并联机构的终端具有非线性强耦合的运动学和动力学特性。要实现并联机构从概念设计到工程应用,首先需要突破机构创新设计、机构运动学和动力学性能分析与评价、以及尺度综合等关键共性基础理论问题,这些基础理论问题是当前领域研究热点,同时也是公认的难题,也是制约并联机构的技术创新和推广应用的瓶颈。


研究项目:

国家自然科学基金项目,项目名称: 基于传递、约束和输出特性的并联机构性能评价体系及应用

国家973计划项目课题,课题名称: 推进系统的高刚度设计及振动能量耗吸机理。

国家自然科学基金重点项目,名称: 少自由度并联机构的创新和系统集成设计。

国家自然科学基金项目,名称: 高灵活度虚拟中心并联机构设计理论与应用。

国家自然科学基金项目,名称: 并联机构性能评价新指标及其应用研究。

国家自然科学基金项目,名称: 机器人机构优化设计新方法理论体系及关键技术研究。

国家863计划项目,名称: 高灵活性新型并联机器人机构及其运动品质设计和实验研究。


研究成果:

获奖:

2013年,并联机器人机构拓扑与尺度设计理论,获得国家自然科学二等奖。

2011年,“并联机构的现代分析与设计理论”,获得教育部高等学校科学研究自然科学奖二等奖。


论文:

SCI: 64篇;EI: 43篇。

代表性论文:

Fugui Xie, Xin-Jun Liu, Zheng You, Jinsong Wang, Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing, Robotics and Computer- Integrated Manufacturing, Vol.30, No.1, pp.1-10, 2014.


bb滚球王Fugui Xie, Xin-Jun Liu and Tiemin Li, Type synthesis and typical application of 1T2R-type parallel robotic mechanisms, Mathematical Problems in Engineering, vol. 2013, Article ID 206181, 12 pages, 2013. doi:10.1155/2013/206181.


Xin-Jun Liu , Chao Wu, and Jinsong Wang, A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol. 4, 041001-1~041001-10, Nov. 2012.


bb滚球王Fugui Xie, Xin-Jun Liu, Jinsong Wang, A 3-DOF parallel manufacturing module and its kinematic optimization, Robotics and Computer-Integrated Manufacturing, Vol. 28, No.3, pp.334–343, 2012.


Fugui Xie, Xin-Jun Liu and Jinsong Wang, Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility, International Journal of Advanced Robotic Systems, Vol. 8, No. 5, 113-124, 2011.


XinJun Liu, Jing Wang, WeiYang Yu and JinHua Wu, Analysis and optimum design of rider-bicycle mechanisms: Design of bicycle parameters for a specified rider, SCIENCE CHINA Technological Sciences, Vol.54, No.11, pp.3027-3034, 2011.


LIU XinJun, LI ZhiDong and CHEN Xiang, A new solution for topology optimization problems with multiple loads: The guide-weight method, SCIENCE CHINA Technological Sciences, Vol.54 No.6, pp.1505–1514, 2011.


XIE FuGui, LIU XinJun, ZHANG Hui & WANG JinSong, Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine, SCIENCE CHINA Technological Sciences, Vol.54 No.5, pp.1193–1205, 2011.


Chao Wu, Xin-Jun Liu, Li-Ping Wang, Jinsong Wang, Dimension optimization of an orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines, Automation in Construction, Vol.20, No.4, pp.353-359, 2011.


bb滚球王Jinsong Wang, Chao Wu, and Xin-Jun Liu, Performance evaluation of parallel manipulators: Motion/force transmissibility and its index, Mechanism and Machine Theory, Vol.45, No.10, pp.1462-1476, 2010.


bb滚球王Xin-Jun Liu, Li-Ping Wang, Fugui Xie, and Ilian A. Bonev, Design of a three-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics, ASME Journal of Manufacturing Science and Engineering -Transactions of the ASME, Vol.132, No.2, 021009 (8 pages), 2010.


bb滚球王Chao Wu, Xin-Jun Liu, Liping Wang, and Jinsong Wang, Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility, ASME Journal of Mechanical Design-Transactions of the ASME, Vol.132, No. 3, 031002 (10 pages), 2010.


WANG Jinsong, LIU XinJun, and WU Chao, Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index, Science in China Series E-Technological Sciences, Vol.52, No.4, pp.986-999, 2009.


Xin-Jun Liu, Jinsong Wang, Chao Wu and Jongwon Kim, A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs , Robotica, Vol. 27, No. 2, pp. 241-247, 2009.


bb滚球王Xin-Jun Liu and Ilian A. Bonev, Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics, Journal of Manufacturing Science and Engineering –Transactions of the ASME, Vol. 130, No.1, Article Number: 011015, 2008.


Xin-Jun Liu and Jinsong Wang, A new methodology for optimal kinematic design of parallel mechanisms, Mechanism and Machine Theory, Vol.42, No.9, pp.1210-1224, 2007.


bb滚球王Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.145-169, 2006.


bb滚球王Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.119-144, 2006.


专利:

发明专利: 48项。

代表性专利:

刘辛军,谢福贵,王立平,尤政,一种可实现SCARA运动的四自由度单动平台并联机构,中国发明专利,申请号: 201210435375.1,申请日: 2012.11.2。

谢福贵,刘辛军,王立平,尤政,一种可实现三平动一转动的四自由度单动平台并联机构,中国发明专利,申请号: 201210434482.2,申请日2012.11.2。

谢福贵,刘辛军,汪劲松,尤政,一种三移一转四自由度空间并联机构,中国发明专利,申请号: 201210433892.5,申请日: 2012.11.2。

谢福贵,刘辛军,汪劲松,一种具有单自由度铰链的三自由度并联主轴头,中国发明专利,申请号: 201210135604.8,申请日: 2012.5.4。

谢福贵,刘辛军,苏铮,王立平,汪劲松,一种具有高灵活特性的三自由度空间并联机构,中国发明专利,申请号: 201210135821.7,申请日: 2012.5.4。

刘辛军,苏铮,陈禹臻,陈祥,汪劲松,一种四自由度双动平台并联机构,中国发明专利,申请号: 201210118610.2,申请日: 2012.4.23。

刘辛军,王立平,陈祥,谢福贵,一种三移动一转动的四自由度双动平台并联机构,申请号: 201210119221.1,申请日: 2012.4.23。

刘辛军,汪劲松,谢福贵,一种驱动冗余三自由度并联机构,中国发明专利,申请号: 201010165567.6,授权日: 2012.2.22。

刘辛军,汪劲松,李枝东,谢福贵,一种无伴随运动的并联式三轴主轴头结构,中国发明专利,专利号: 200910079838.3,授权日: 2010.11.03。

刘辛军,汪劲松,谢福贵,一种多轴联动混联装置,中国发明专利,专利号: ZL 200810113768.4,授权日: 2010.1.13。

汪劲松,刘辛军,王立平,郝齐,并联式三轴主轴头结构,中国发明专利,专利号: ZL 200810104938.2,授权日: 2010.1.22。

刘辛军,汪劲松,谢福贵,一种运动解耦并联式A/B轴主轴头结构,中国发明专利,专利号: ZL 200810106395.8,授权日: 2010.6.16。

刘辛军,汪劲松,吴超,一种多轴联动混联机床,中国发明专利,专利号: ZL 200810104937.8,授权日: 2010.6.2。

刘辛军,汪劲松,吴超,王立平,一种并联式A/B轴主轴头结构,中国发明专利,ZL 200710062854.2,2009.3.4。

刘辛军,汪劲松,吴超,张辉,段广洪,运动解耦的空间三自由度并联机构,中国发明专利, ZL 200710063054.2,2009.1.14。

刘辛军,汪劲松,吴超,王立平,李铁民,一种并联式三轴主轴头结构,中国发明专利,专利号: ZL200610165571.6,授权日: 2010.5.19。


理论成果

多年来,清华大学制造工程研究所先进制造装备研究团队围绕现代并联机构分析及设计理论这一核心问题,系统地开展了并联机构构型设计理论、运动学和动力学性能分析与评价方法、多参数尺度综合(参数优化设计)方法及其共性基础理论的研究,研究体系结构图如图1所示。取得了如下重要理论成果:

研究方向与领域

TU1


 


建立了“面向工程应用的新型并联机构构型设计方法”

机构构型是装备创新的原始基础,构型创新是自主创新的根本。并联装备作为制造装备体系的一个结构单元或者功能部件是并联机构具有广阔发展前景的一个方向。因此,面向工程应用,高性能少自由度尤其是3自由度并联机构的创新具有很重要的学科发展和工程应用意义。然而,空间多闭环、少自由度并联机构由于可实现运动与约束运动、驱动力与约束力的强耦合特性,增加了此类机构的创新难度,尤其是面向工程应用的构型创新是困扰机构学术界很多年的世界性难题。 

bb滚球王  PINGXINGSIBIANXINGJIGOUJUYOUTESHUDEYUNDONGXUETEXING,JIZAIYUNDONGDEGUOCHENGZHONG,LIANGXIANGDUIGANJIANDEZITAISHIZHONGSHIYIZHIDE。bbGUNQIUWANGDEYANJIUFAXIAN,ZHEIGETEXINGKEYIYONGLAIJIEJUEBINGLIANJIGOUXUEGOUXINGSHEJIDELIANGGEYINANWENTI: YISHIJIEJUEKUNHUOYIJIUDEUU(UBIAOSHIWANXIANGHUOZHEHUKEJIAOLIAN)YUNDONGLIANDEYUNDONGXUEQIYIWENTI;ERSHIGAISHANBINGLIANJIGOUDONGPINGTAIDEBAIJIAONENGLI。JIYUCI,XIANGMUZUZUICHUTICHULERUTU2SUOSHIDE3ZIYOUDUBINGLIANJIGOU,GAIJIGOUDEDISANGEZHILIANZHONGHANYOUYIGEPINGXINGSIBIANXINGJIGOUDANYUAN,SHIJIGOUZAIZUOZHUANDONGYUNDONGSHI,ZHIYOUDANZIYOUDUYUNDONGFUCANYUYUNDONG,CONGERSHIDONGPINGTAINENGGOUSHIXIANHENDADEBAIJIAONENGLI(GAODA±50°)。TU2SUOSHIJIGOUDETICHUTIANBULELINGYUNEIDELIANGGEKONGBAI: JUYOU2GEYIDONGHE1GEZHUANDONGYUNDONGDEKONGJIANBINGLIANJIGOUHEGAOBAIJIAONENGLIDEWANQUANBINGLIANJIGOUGOUXING。ZAIGAIJIGOUYANJIUDEJICHUSHANG,TICHULE“JIYUPINGXINGSIBIANXINGJIGOUDANYUANDEBINGLIANJIGOUGOUXINGSHEJIFANGFA”。 

bb滚球王  TONGGUOJINYIBUYANJIUPINGXINGSIBIANXINGJIGOUJIBINGLIANJIGOUDAILAIDEYOUQUEDIAN,SHEJICHULEQITADUOZHONGBINGLIANJIGOUDEGOUXING,LIRUGENJUPINGXINGSIBIANXINGJIGOUSHUCHUGANJIANDEZITAIBUBIANXING,LIANXIANGDAOYIDONGFUYEJUYOULEISITEXING,CONGERTICHULE3-PPSLEIBINGLIANJIGOU(RUTU3SUOSHI)DESHEJIFANGFA。LINGWAI,KAOLVDAOPINGXINGSIBIANXINGJIGOUZENGJIALEJIAGONGZHIZAONANDU,TICHULEYONGRCZHILIANLAIDAITIR(Pa)RDESHEJIFANGFA,CONGERSHEJILEGENGJIAJIANDANDEBINGLIANJIGOU(TU4SUOSHIJIGOUSHIQIZHONGYIGELIZI)。JIYUQIUMIAN5LIANGANJIGOUDEYUANLI,YANSHENGSHEJILEDUOZHONG3ZIYOUDUHE2ZIYOUDUDEBINGLIANSHIZHUZHOUTOUJIGOU(QIZHONGYIGEJIGOURUTU5SUOSHI)。

研究方向与领域

提出了“面向实际设计与应用的并联机构运动学性能分析与评价方法”

从一开始,并联机构沿用了串联机器人机构的性能分析方法和评价体系。然而,与没有被动运动副和杆件的串联机器人机构不同,作为其性能互补作用的并联机构有多个被动运动副和杆件,其本质特性内涵更加复杂,性能分布具有全局不稳定性,因此,与串联机构相比,并联机构的性能分析更加困难。 工作空间定义及设计应用: 工作空间包括位置工作空间和姿态工作空间,是定义全局性能指标的基础。工作空间又分为可达工作空间和灵巧工作空间,也是被研究的最广泛的两类工作空间,然而这两种工作空间内部存在奇异,从而不能用于机构的设计阶段。针对此类问题,从工程设计和应用出发,定义了同一机构不同工作模式的奇异形位、可用工作空间(Usable workspace)和优质工作空间(Good-condition workspace),并用在机构的性能分析和机构设计中,取得了良好的实际设计效果。 

TICHUDUOGEJUYOUPUBIANYIYIDEDINGYIHEDINGLI: ZAIBINGLIANJIGOUXINGNENGYANJIUGUOCHENGZHONG,TICHULEDUOGEZAIXINGNENGFENXIHESHEJIJIEDUANJUYOUPUBIANYIYIDEDINGYIHEDINGLI,BIRUDINGYI: XIANGSIJIGOUHEJIBENXIANGSIJIGOU。BIRUDINGLI: CHICUNXIANGSIDEJIGOUQIXINGNENGYESHIXIANGSIDE;XIANGSIJIGOUDEGONGZUOKONGJIANSHIJIBENXIANGSIJIGOUGONGZUOKONGJIANDEDdBEI(dBIAOSHIGONGZUOKONGJIANDEWEISHU);RUGUOJIBENXIANGSIJIGOUDEXINGNENGSHIZUIJIADE,NEIMEQIDUIYINGDESUOYOUXIANGSIJIGOUDEXINGNENGDOUSHIZUIJIADE。ZHEIXIEDINGYIHEDINGLIDETICHU,JIDADIJIANHUALEJIGOUDESHEJIGUOCHENG、TIGAOLEJIGOUDESHEJIXIAOLV。 

ZONGHEKAOLVYUNDONGHELICHUANDITEXINGDEBINGLIANJIGOUXINGNENGFENXILILUN、PINGJIATIXIJISHEJISIXIANG: TICHULEZONGHEPINGJIABINGLIANJIGOUYUNDONGHELICHUANDITEXINGYIJIANZHAOGAIXINGNENGSHEJIBINGLIANJIGOUDESIXIANG,TICHUDEXINZHIBIAOYUZUOBIAOXIWUGUAN、WULIYIYIMINGQUE,SHIBUTONGJIGOUGOUXINGZHIJIANXINGNENGBIJIAOCHENGWEIKENENG(RUTU6SUOSHI),WEIJIGOUGOUXINGYOUXUANTIGONGYITIAOYOUXIAOTUJING,FENGFULEBINGLIANJIGOUDESHEJILILUN。

现代机构学理论


bb滚球王TU6 JIYUYUNDONGHELICHUANDITEXINGZHIBIAODEBUTONGJIGOUDEXINGNENGBIJIAO


建立了“并联机构线性化动力学建模及其简化方法和动力学性能评价方法”

并联机构动力学模型的高度非线性、耦合性和复杂性,增加了动力学参数辨识的难度,也使其很难适用于实际的控制系统中,因此并联机构的动力学建模方法及其模型的简化一直是领域内研究的热点和亟待解决的难题。

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BINGLIANJIGOUDONGLIXUEMOXINGDEOUHEXINGHEFUZAXING,SHIQIHENNANSHIYONGYUSHIJIDEKONGZHIXITONG,BIXUZAIBAOZHENGDONGLIXUEMOXINGJINGDUXIAJIANGJIAOXIAODEQINGKUANGXIA,DUIMOXINGJINXINGJIANHUA,YIMANZUXITONGSHISHIXINGYAOQIU。bbGUNQIUWANGJIANGDONGLIXUEMOXINGXIFENWEI18XIANG,BINGJIANGBINGLIANJIGOUYUNDONGFENWEIDISU、ZHONGSUHEGAOSUYUNDONG,RANHOUGENJUGEFENXIANGBIAOSHIDEDONGLIXUETEXING,ZAIDISU、ZHONGSUHEGAOSUYUNDONGSHIFENBIEQUEDINGJIANHUACELVE。GAIYANJIUDUIYUSHIXIANBINGLIANJIGOUGAOSUGAOJINGDUYUNDONGJUYOUZHONGYAOYIYI。

DONGLIXUEXINGNENGSHIPINGJIAJIGOUGAOSUTEXINGHEJIAJIANSUTEXINGDEZHONGYAOJISHUZHIBIAO。JIYUDONGLIXUEMOXINGZHONGDEGUANXINGJUZHEN,TICHULEPINGJIABINGLIANJIGOUDONGLIXUEXINGNENGDEJUYUHEQUANYUPINGJIAZHIBIAO。JIYUCIPINGJIAZHIBIAO,TICHUYIZHONGYOUHUASHEJIFANGFA,ZAIYOUHUASHEJIGUOCHENGZHONGJIUKAOLVDONGLIXUETEXING,YIQISHIXIANBINGLIANJIGOUDEGAOJIASUDUDENGDONGLIXUEXINGNENG,DUIBINGLIANJIGOUDEYOUHUASHEJIJISHIYONGHUAJUYOUYIDINGGONGXIAN。


建立了“基于性能图谱和优质尺度域的机构尺寸参数优化设计方法”

并联机构性能对杆件尺寸具有极大依赖性。虽然并联机构是国内外机构学领域一个很重要的研究热点,但是由于它结构复杂,对其分析方面的研究比较多,而设计方面的研究相对比较少,应该说,如何正确设计使装备满足预期要求的性能,尚缺少一套合理的理论和方法。

ERSHISHIJI80NIANDAI,DONGBEIZHONGXINGJIXIEXUEYUANYANGJIHOUJIAOSHOUZAIYANJIUSIGANJIGOUDEGUOCHENGZHONGTICHULE“KONGJIANMOXINGLILUN”DEGAINIAN,GAOFENGJIAOSHOUJINYIBUBAGAILILUNYINRUDAOJUYOUZHUANDONGQUDONGSHURUDEBINGLIANJIGOUZHONG。ZHENDUIBINGLIANJIGOUSHURUFANGSHIDEDUOYANGXING,bbGUNQIUWANGTICHULEYIJUTEZHENGCANSHU(RUYAKEBIJUZHEN)LAIBIANSHIJIGOUSHEJICANSHUDEFANGFA,JINYIBUTUOZHANLEKONGJIANMOXINGLI

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研究方向与领域

图7 基于性能图谱和优质尺度域的机构尺度综合方法流程图



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