两种具有位置正解的2T1R并联机器人机构运动学性能对比分析*

doi:10.16731/j.cnki.1671-3133.2026.06.004

现代制造工程 ›› 2026, Vol. 549 ›› Issue (6): 32-41.doi: 10.16731/j.cnki.1671-3133.2026.06.004

两种具有位置正解的2T1R并联机器人机构运动学性能对比分析^*

张晓莉¹, 岳雪芝²

1 深圳信息职业技术大学中德机器人学院,深圳 518000;
2 江西理工大学理学院,赣州 341000

收稿日期:2025-03-30 出版日期:2026-06-18 发布日期:2026-07-02
作者简介:张晓莉,博士,副教授,主要研究方向为机器人机构、机器人控制。E-mail:september2008@126.com
基金资助:
*国家自然科学基金项目(61966015)

Comparative analysis of kinematic performance of two 2T1R parallel robot mechanisms with position positive solutions

ZHANG Xiaoli¹, YUE Xuezhi²

1 Sino-German Robotics School,Shenzhen University of Information Technology,Shenzhen 518000,China;
2 Institute of Science,Jiangxi University of Science and Technology,Ganzhou 341000,China

Received:2025-03-30 Online:2026-06-18 Published:2026-07-02

摘要/Abstract

摘要： 针对工业生产中工件搬运和分拣的作业需求,基于方位特征(Position and Orientation Characteristic,POC)方程的并联机器人拓扑设计方法,设计了4种具有可避免机械碰撞、支链结构简单特点的两平移一转动(Two Translations and One Rotation,2T1R)并联机器人机构。对机构的主要拓扑特征(POC、自由度、耦合度)进行了分析,以其中转动副轴线垂直于Z轴的两个2T1R并联机器人机构为例展开了研究,基于拓扑特征运动学建模原理对其进行了运动学方程建模,推导得到了位置正解和位置逆解符号解,同时对位置逆解进行了数值算例仿真验证,通过雅可比矩阵分析了并联机器人机构的三类奇异位置。然后,研究了并联机器人机构的工作空间、转动能力及灵巧度等性能指标。最后,分析了结构尺寸参数对工作空间和转动能力指标的影响趋势,并完成了机构应用场景设计。仿真分析结果表明,和构型1相比,相同参数下构型2的工作空间、转动能力及灵巧度性能更优;同时,构型1转动能力和工作空间体积能同时取较大的值,而构型2转动能力和工作空间体积是分离的,无法同时取得较大值。研究结果可为该并联机器人后续的优化设计、运动轨迹规划与控制提供参考。

关键词: 拓扑设计, 并联机器人, 运动学方程, 奇异性, 工作空间, 转动能力, 灵巧度

Abstract: In response to the demand for workpiece handling and sorting in industrial production,a parallel robot mechanisms topology design method based on the Position and Orientation Characteristic (POC) equation was developed to design four Two Translations and One Rotation (2T1R) parallel robot mechanisms with the characteristics of avoiding mechanical collisions,simple branch structures. The main topological features of the parallel robot mechanism (POC,degrees of freedom,coupling degree) were analyzed,taking two 2T1R parallel robot mechanisms in which the axes of the revolute pairs were perpendicular to the Z-axis as an example,based on the principle of topological feature kinematic modeling,kinematic equations were modelled,the symbolic solutions of the position forward and inverse solutions were derived,and the numerical simulation of the position inverse solution was verified. The three types of singular positions of the parallel robot mechanism were analyzed through Jacobian matrix analysis. Then,performance indicators such as workspace,rotational ability,and dexterity of the parallel robot mechanism were studied. Finally,the influence trend of structural size parameters on workspace and rotational ability indicators was investigated,the design of institutional application scenarios was completed. The simulation results showed that compared with configuration 1,configuration 2 had better workspace,rotational ability,and dexterity performance under the same parame-ters. Configuration 1′s rotational ability and workspace volume could take larger values simultaneously,while configuration 2′s rotational ability and workspace volume were separated and could not achieve larger values simultaneously. The above research provides reference for the subsequent optimization design,motion trajectory planning and control of the parallel robot mechanisms.

Key words: topology design, parallel manipulator, kinematic equations, singularity, workspace, rotation capacity, dexterity

中图分类号:

TH122

张晓莉, 岳雪芝. 两种具有位置正解的2T1R并联机器人机构运动学性能对比分析^*[J]. 现代制造工程, 2026, 549(6): 32-41.

ZHANG Xiaoli, YUE Xuezhi. Comparative analysis of kinematic performance of two 2T1R parallel robot mechanisms with position positive solutions[J]. Modern Manufacturing Engineering, 2026, 549(6): 32-41.

参考文献

[1] ZOU J X,LUO Y F,SHI Z X,et al. Analysis of position and working capability of a novel 2T1R parallel mechanism[J].Mach. Des. Res.,2020,36 (3):19-22,29.
[2] LI Y,ZHANG Y,ZHANG L.A new method for type synthesis of 2R1T and 2T1R 3-DOF redundant actuated parallel mechanisms with closed loop units[J]. Chinese Journal of Mechanical Engineering,2020,33(1):1-24.
[3] ZHANG D,ZHENG Y,WEI L,et al. Type synthesis of 2T1R planar parallel mechanisms and their moduling development applications[J]. IEEE Access,2021,9:72217-72227.
[4] SHEN H,TANG Y,WU G,et al. Design and analysis of a class of two-limb non-parasitic 2T1R parallel mechanism with decoupled motion and symbolic forward position solution-influence of optimal arrangement of limbs onto the kinematics,dynamics and stiffness[J]. Mechanism and Machine Theory,2022,172:104815.
[5] 刘娟,李瑞琴,王远,等. 酒包生产线1R2T并联机构构型综合及运动学分析[J]. 机械传动,2023,47(6):42-48.
[6] 耿宗海,李菊,沈惠平,等. 新型两平移一转动并联机构的拓扑设计及性能分析[J]. 机电工程,2023,40(12):1931-1938.
[7] 丰晓东,赵耀虹,李瑞琴,等. 2-CPR/RPU并联机构的构型设计及工作性能分析[J]. 科学技术与工程,2024,24(12):4902-4908.
[8] 高波,石志新. 一种具有弯曲平移特性的2T1R并联机构设计与位置分析[J]. 机械传动,2024,48(11):92-98.
[9] 邓嘉鸣,许可,赵迎春,等. 无寄生运动非对称空间2T1R并联机构设计与运动学分析[J]. 农业机械学报,2018,49(6):408-417.
[10] 沈惠平,傅增,李菊,等. 无寄生运动3-DOF 2T1R并联机构拓扑设计与分析[J]. 农业机械学报,2024,55(6):424-433.
[11] NING F. Kinematics and performance analysis of the 2T1R/1T2R reconfigurable decoupled parallel mechanism[J]. Applied Sciences,2025,15:1134-1154.
[12] 沈惠平,孔祥超,李菊,等. 正解符号化且运动解耦的2T1R并联机构拓扑设计与分析[J]. 农业机械学报,2024,55(5):449-458.
[13] 屈淑维,李瑞琴,郭志宏. 一种三自由度并联解耦机构的型综合[J]. 机械设计与研究,2017,33(1):31-34.
[14] 刘伟,刘宏昭. 具有2T1R与2R1T运动模式3自由度并联机构型综合[J]. 农业机械学报,2018,49(7):401-409.
[15] 刘毅,易旺民,姚建涛,等. 狭长空间内重载调姿装配机器人的设计与研究[J]. 中国机械工程,2024,35(2):324-336.
[16] 徐冬梅,刘湘龙,于思淼,等. 面向狭长空间的三自由度并联机器人设计与建模[J]. 农业机械学报,2024,55(1):426-435.
[17] 周亚杰,李毅,张凤奎,等. 一种新型大行程高精度并联微动机构的研究与分析[J]. 机器人,2023,45(2):179-186.
[18] 彭斯洋,程志红,车林仙,等. 基于UPS-RPU-PU并联机构的液压支架试验台多目标优化[J]. 中南大学学报(自然科学版),2023,54(7):2683-2694.

两种具有位置正解的2T1R并联机器人机构运动学性能对比分析^*

Comparative analysis of kinematic performance of two 2T1R parallel robot mechanisms with position positive solutions

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

[1]	王磊, 张磊, 章悦, 李红兵, 孙铭, 陆观. 四指灵巧手的设计与研究^*[J]. 现代制造工程, 2025, 535(4): 69-76.
[2]	姚卓，张奇峰，霍良青，翟宝琦，刘涛. 深海液压机械手连杆参数优化研究[J]. 现代制造工程, 2021, 491(8): 40-47.
[3]	李克讷，刘备，马玉如，王温鑫，杨津. 面向板材切割的冗余度机械臂运动规划[J]. 现代制造工程, 2021, 494(11): 58-62.
[4]	吴俊飞,邵珠文,刘瑞青,丁忠军,王洪亮. 基于蛟龙号的深海切割采样系统设计与分析[J]. 现代制造工程, 2018, 455(8): 145-150.
[5]	化春键, 陆云健, 袁浩. 新型双变频振动结构及其振动特性研究[J]. 现代制造工程, 2018, 453(6): 1-5.
[6]	朱达荣, 潘志远, 刘涛, 徐德军. 金属疲劳过程磁记忆信号多特征量提取研究[J]. 现代制造工程, 2018, 457(10): 123-129.