rrr并联机器人机构奇异性分析.docx

密 级 公 开 分类号 TP241 XXXXXX硕士学位论文3RRR并联机器人机构奇异性分析Singularity Analysis of 3RRR Parallel Robot Mechanism指导教师姓名、专业技术职务 学 科 专 业 论文答辩日期 学位授予单位和日期 答辩委员会主席 答辩委员会委员 摘 要随着社会的发展和科技的进步，机器人已经渗透到人类生产生活的各个方面。

并联机器人由于其具有稳定性好、承载能力强、精度高、耐恶劣环境等优点，不但在工业生产领域发挥着不可替代的作用，而且在军事领域中具有广泛应用本文以三自由度平面3RRR机构为研究对象，研究了该机构的工作空间搜索方法，分析了该机构的奇异位形，建立了其奇异位形规避模型，讨论了奇异位形的规避条件，建立含杆长误差的奇异位形分析方法，并进行了仿真研究，为该型机构的分析设计提供了理论基础本文主要研究工作如下：首先，建立了平面3RRR机构的数学模型，根据平面机构学和几何学建立机构的约束方程，对该机构的运动学正逆解进行了研究；建立逆解和二维搜索法相结合的工作空间求解方法，研究了平面3RRR机构的工作空间，结果表明，该方法简化了工作空间求解的计算量，大幅提高了计算效率其次，采用代数法分析了3RRR机构的奇异位形，并基于平面单闭环连杆机构的可装配性原理，对3RRR机构驱动做整周运动的条件及避免正向奇异位形的几何条件进行了分析，为机构的杆长设计提供了必要的约束条件第三，建立含杆长误差的机构奇异位形分析数学模型，讨论了杆长误差对平面3RRR机构奇异性的影响，使用MATLAB对杆长误差进行数据分析，得出了杆长误差与奇异点位置偏移程度之间的关系。

结果表明，驱动杆的杆长误差对机构奇异性影响较大且成非线性增长的结论，为3RRR机器人机构的设计及精度研究提供了参考依据最后，利用Pro/E、ADAMS等仿真软件对平面3RRR机构的运动学和奇异性进行仿真，验证了本文数学模型的正确性与可靠性关键词：并联机器人；运动学；奇异性分析；杆长误差ABSTRACTWith the rapid development of society and steady progress of science and technology, robots have penetrated into each and every aspect concerning the daily life and production of human beings. Characterized by good stability, great carrying capacity, high accuracy, strong resistance to harsh environments, etc., parallel robots are not only irreplaceable in the field of industrial production, but also widely used in the military field. In this paper, the planar 3RRR mechanism with three-degree-of- freedom was selected as the research object to study the workspace search method and analyze its singularity. A singularity avoidance model was established to discuss the avoidance conditions for singularity and figure out the singularity analytic procedure that includes rod length errors. Simulation research was also carried out to provide a theoretical basis for the designing of such mechanism. The research work of this paper is mainly as follows: Firstly, a mathematical model of the planar 3RRR mechanism was established in this paper, and in accordance with the planar mechanism and geometry, the constraint equations of such mechanism were built to study its direct and inverse kinematics. The method that integrates the inverse solution with the two-dimensional search method was created for solving the workspace of the 3RRR mechanism. The results showed that this method could simplify the calculation of workspace and greatly improve the computational efficiency. Secondly, the algebraic method was adopted to analyze the singularity of the 3RRR mechanism. In addition, on the basis of the assemblability principle of the planar single close-loop connecting rod, the conditions under which the 3RRR mechanism is in fully periodic motion as well as the geometric conditions under which the direct singularity could be avoided were analyzed to provide the design of the rod length with necessary constraint conditions. Thirdly, a mathematical model in relation to rod length errors to analyze the singularity of the mechanism was established to discuss the influence of rod length errors on the singularity of the planar 3RRR mechanism. Data analysis of rod length errors was conducted using MATLAB to make clear the relationship between the rod length errors and the offset degree of the singular points’ positions. It could be seen from the results that the conclusions that the rod length errors of the drive rods largely influence the singularity of the mechanism and that such impact grows non-linearly provide reference data for the design and the accuracy research on the mechanism of 3RRR robots. Last but not least, Pro/E, ADAMS and other simulation software were adopted to simulate the kinematics and singularity of the 3RRR mechanism to verify the correctness as well as the reliability of the mathematical model built in this paper. KEY WORDS: Parallel Robot；Kinematics；Singularity analysis；Rod length errors目　录摘 要 IABSTRACT III目　录 V图 目 录 IX表 目 录 XI第一章 绪 论 11.1 并联机器人发展现状 21.1.1 研究现状 21.1.2 应用现状 31.1.3 军用机器人的研究状况 41.2 课题研究背景 61.3 国内外奇异性分析现状 81.3.1 奇异性分析方法 81.3.2 奇异性分类 101.4 本文的研究内容 11第二章 平面3RRR机构运动学分析 132.1 平面3RRR机构的描述 132.2 平面3RRR机构逆解的求解 142.2.1 理论分析 142.2.2 逆解的仿真实例 162.3 平面3RRR机构正解的求解 192.3.1 理论分析 192.3.2 正解的仿真实例 202.4 工作空间求解 212.4.1 工作空间的概念 212.4.2 工作空间理论分析 222.5 本章小结 25第三章 奇异性分析 273.1 两种平面3RRR机构的奇异性分析法 273.1.1 基于雅可比矩阵的平面3RRR机构的奇异性分析 273.1.2 基于速度瞬心的平面3RRR机构的奇异性分析法 333.1.3 两种方法优劣对比 353.2 机构奇异性的规避 353.2.1 3RRR机构可动性分析 363.2.2 3RRR机构规避奇异的几何条件 393.3 本章小结 41第四章 平面3RRR机构杆长误差对奇异性的影响分析 434.1 平面3RRR机构杆长误差对机构奇异性。