河北工业大学博士学位论文并联机器人机构构型方法研究姓名：史巧硕申请学位级别：博士专业：机械制造及其自动化指导教师：高峰20080701河北工业大学博士学位论文 i并联机器人机构构型方法研究并联机器人机构构型方法研究 摘摘 要要 机器人机构设计中最重要的步骤之一是解决机构型综合的问题，机器人机构构型方法的研究具有十分重要的理论和实际意义，尤其是并联机器人的型综合方法一直以来都受到国内外许多研究学者的关注。在并联机器人机构的构型理论研究中，基于机构末端运动特征描述与机构需要完成的功能的简单有效的构型方法还缺乏系统的研究。本文研究了基于GF集的并联机器人机构构型方法， 并利用该方法研究了二六维并联机器人机构的型综合，主要研究内容包括以下几个方面： 1. 研究了 GF集的基本概念与定义形式，根据机构末端的运动特征得到了 GF集的分类方式。研究了机构末端进行旋转运动的条件，得到了空间旋转运动行星定理。定义了 GF集的两种运算，即求交与求和运算，得到了一维、二维、三维移动或转动的求交与求和算法，为使用基于 GF集的构型方法进行型综合提供了理论与数学依据。讨论了基于 GF集的机器人机构构型方法，针对并联机器人机构，得到了各类并联机构的构型特点，给出了基于 GF集的并联机器人机构构型方法进行型综合的步骤。 2. 研究了确定运动特征及不确定运动特征的定义，分析了具有确定运动特征支链的构造方法，得到了具有确定二六维运动特征的多种支链形式，这些支链是并联机器人机构构型的基础。 3. 研究了三类二维、四类三维并联机器人机构的型综合，得到了多种二维和三维并联机器人机构构型，并系统揭示了二维及三维并联机器人机构的结构条件。 4. 研究了三类四维并联机器人机构的型综合，得到了多种并联机器人机构构型，并系统揭示了四维并联机器人机构的结构条件。 5. 研究了两类五维并联机器人机构及六维并联机器人机构的型综合，列举出了多种并联机器人机构构型，并系统揭示了五维和六维并联机器人机构的结构条件。 6. 研究了基于 GF集的并联机器人机构末端运动特征分析方法，给出了几种并联机器人机构的末端特征详细分析过程，得到了各类机构的正确运动特征，从而验证了该方法的有效性和正确性。 并联机器人机构构型方法研究 ii 关键词：关键词：并联机器人机构，型综合，末端特征，GF集，交运算，和运算 河北工业大学博士学位论文 iiiRESEARCH ON THE TYPE SYNTHESIS METHODOLOGY OF PARALLEL MANIPULATORS ABSTRACT One of the most important steps in designing a robotic mechanical system is to solve the problem of type synthesis of mechanisms. The research on the type synthesis methodology of parallel manipulators is of theoretical and practical significance, which has received much concern from many researchers. However, among those type synthesis methodologies, simple and effective method which is based on the description of the kinematic characteristics of an end-effector of a parallel manipulator and the design requirement has not been dealt with systematically, which is still lack of consideration. The type synthesis methodology of parallel manipulators based on GF set is studied. Type synthesis of parallel manipulators with 2D (Dimension) to 6D is performed by utilizing this method. The main contributions are as follows: 1. The basic concept and definition of GF set is studied. According to the kinematic characteristics of the end-effectors of parallel manipulators, the classification of GF set is obtained. The conditions for the rotational motion of the end-effector are studied and the spatial rotational motion planet theorem is given. Two operations of GF sets, i.e. intersection and union are defined and the algorithms for intersection and union of 1D, 2D and 3D translations and rotations are established, which provides the experimental and theories foundation for the utilization of the type synthesis based on GF set. The type synthesis for robot mechanisms based on GF set is discussed and configuration features of various types of parallel manipulators are obtained. A general procedure is described for the type synthesis of parallel manipulators based on GF set. 2. The definitions of specific and unspecific kinematic characteristics are presented. The design approach for chain structures with specific kinematic characteristics are analyzed and kinematic chains with 2D to 6D kinematic characteristics are then enumerated, which are used for constructing parallel manipulators. 并联机器人机构构型方法研究 iv 3. The type synthesis of three kinds of 2D and four kinds of 3D parallel manipulators are performed using type synthesis method based on GF set. Many novel mechanisms are synthesized and the structural conditions are revealed systematically for 2D and 3D parallel manipulators. 4. The type synthesis of three kinds of 4D parallel manipulators are performed by utilizing type synthesis method based on GF set. Several novel architectures are covered and the structural conditions are revealed systematically for 4D parallel manipulators. 5. The type synthesis of two kinds of 5D parallel manipulators and 6D parallel manipulators are performed by employing type synthesis method based on GF set. Many 5D and 6D parallel manipulators are enumerated and the structural conditions are revealed systematically for 5D and 6D parallel manipulators. 6. The analysis method for the kinematic characteristics of the end-effectors of parallel manipulators based on GF set is studied. As the application of the method, analysis procedures of several parallel manipulators are described in detail and the correct results are obtained, which verifies the efficiency and correctness of the method. KEY WORDS: parallel manipulators, type synthesis, kinematic characteristics of end-effector, GF set, intersection, union 独创性声明独创性声明 本人郑重声明： 所呈交的学位论文是本人在导师指导下进行的研究工作及取 得的研究成果。尽我所知，除了文中特别加以标注和致谢的地方外，论文中不包 含其他人已经发表或撰写的研究成果， 也不包含为获得河北工业大学或其他教育 机构的学位或证书所使用过的材料。 与我一同工作的同志对本研究所做的任何贡 献均已在论文中作了明确的说明并表示了谢意。 学位论文作者签名： 日期 ： 年 月 关于学位论文版权使用授权的说明关于学位论文版权使用授权的说明 本学位论文作者完全了解河北工业大学有关保留、使用学位论文的规定。特 授权河北工业大学可以将学位论文的全部或部分内容编入有关数据库进行检索， 并采用影印、缩印或扫描等复制手段保存、汇编以供查阅和借阅。同意学校向国 家有关部门或机构送交论文的复印件和磁盘。 （保密的学位论文在解密后适用本授权说明） 学位论文作者签名： 日期： 年 月 导师签名： 日期： 年 月 河北工业大学博士学位论文 1第一章第一章 绪论绪论 1-1 概述概述 并联机器人机构 （Parallel Manipulator， PM） 为动平台和定