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1、河北工业大学 博士学位论文 染色体切割装备宏动系统研究 姓名：赵剑波 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 20071001 河北工业大学博士学位论文 i 染色体切割装备宏动系统研究染色体切割装备宏动系统研究 摘摘 要要 现代生物科学技术的发展依赖于现代仪器设备的性能，这些仪器设备的性能决定了 生物技术研究的水平。染色体切割装备的技术水平制约着染色体微切割、微克隆技术的 应用。本文在对染色体切割装备、并联机构、宏微操作方面进行综述的基础上，利用并 联机构的高精度、高刚度、高速度等特点，基于宏微双重驱动的思想，研究了新型的染 色体切割装备 6-PPPS 正交并联宏动系统的
2、机构学问题，主要研究内容包括： 1. 分析了 6-PPPS 宏动系统的几何约束条件，建立了由机构 18 个移动副运动参数表 示的方向余弦矩阵，以此矩阵进行机构无数值计算的符号形式位置正反解研究，探讨了 满足机构球铰约束下的唯一正解的判定方法，基于位置正反解进行了速度、加速度的正 反解研究，得到了一阶、二阶影响系数。 2. 讨论了姿态空间的评价指标，针对 6-PPPS 宏动系统利用驱动差值建立驱动姿态参 数的概念及其表达式，对比研究了欧拉姿态空间和驱动姿态空间，为机构设计参数的合 理给定和机构轨迹规划提供了依据。 3. 研究了 6-PPPS 宏动系统的工作空间，建立了反映机构尺寸同机构工作空间的
3、位 置、体积关系的无量纲数学模型，基于工作空间的机构尺寸无量纲设计，讨论了定姿态 下和给定姿态范围下的机构尺寸的设计方法。 4. 研究了 6-PPPS 宏动系统的动力学逆问题，以驱动量为广义坐标分别建立了完整的 动力学模型和机构平动时的动力学模型，利用位置、一阶和二阶影响系数的无数值计算 的符号解得出了驱动力的最终符号解，两种模型对比可以相互验证，且平动动力学模型 利于实时控制。 5. 研究了 6-PPPS 宏动系统的误差建模与精度分析，基于位置无数值计算的符号正反 解分别建立了机构的精度分析模型，对比分析两种精度模型，两者结果是一致的，考虑 数值运算的精度时应根据情况选择使用或结合使用。分析
4、了机构精度分布的特点，给出 了精度补偿的方法。 6. 研究了 6-PPPS 宏动系统的轨迹规划，分析了位置轨迹规划时机构的运动特性，讨 论了位置轨迹规划下路径及运动学特性实现的方法，建立了基于驱动姿态空间的姿态路 径规划，讨论了关节空间轨迹规划时实现姿态路径的边界条件，分析了速度约束下的轨 迹规划，基于不同角速度的变换建立了角速度雅可比，进行了染色体切割装备宏动系统 的任务规划。 本文的研究成果对染色体切割装备的设计与控制有重要的科学意义和实用价值。 染色体切割装备宏动系统研究 ii 关键词：关键词：染色体切割，6-PPPS 正交并联机构，位置正反解，符号解，影响系数，驱动姿 态参数，驱动姿态
5、空间，尺寸设计，动力学，精度分析，轨迹规划 河北工业大学博士学位论文 iii RESEARCH ON THE MACRO MOVING SYSTEM OF CHROMOSOME INCISION EQUIPMENT ABSTRACT The development of modern biological science and technology depends on the performance of instrument and equipment which decides the research level of biotechnology. The technology le
6、vel of chromosome incision equipment restricts the application of chromosome micro dissection and micro cloning technology. After the overview of chromosome incision equipment, parallel mechanism, macro/micro operation and so on, the mechanism about the new type of chromosome incision equipment macr
7、o moving system 6-PPPS orthogonal parallel mechanism is studied. The mechanism is presented based on the macro-micro dual-drive thinking and the features of parallel mechanism such as high precision, high precision, and high speed. Main contents are summarized as follows: 1. After the geometry const
8、raint conditions analysis of 6-PPPS macro moving system, the direction-cosine matrix can be constructed by the motion parameter of 18 mechanism moving pair, which used in the research of forward and inverse displacement analysis. The judging method is presented for the unique forward solution which
9、depends on the constraint of real sphere-hinge. Based on the forward and inverse displacement analysis, the forward and inverse velocity and acceleration are studied. The infection coefficients such as fist order and second order infection coefficient are obtained. 2. The evaluation index of orienta
10、tion space is discussed. According to 6-PPPS macro moving system, the concept and expressions of driving orientation parameter are proposed by the driving difference value. Comparison of Euler orientation space and driving orientation space are studied, which provide a foundation for the mechanism d
11、esign parameter properly given and trajectory planning. 3. The workspace of 6-PPPS macro moving system dynamics is studied. Based on the method of non dimensional analysis, the mathematical models were established, reflecting the relation of mechanism dimension and workspaces location or volume. Bas
12、ed on the non dimensional design method about mechanism workspace, the method for design mechanism dimension is discussed if knowing the fixed value or the range of orientation. 4. The inverse problem of 6-PPPS macro moving system dynamics is studied. The wholly dynamic model is established by using
13、 driving as generalized coordinates as well as the translation dynamic model. The final symbolic solution is deduced based on the symbolic 染色体切割装备宏动系统研究 iv solution of position, first-order and second-order influence coefficient. The two models can be verified each other. The translation dynamic mod
14、el is efficient to real time control. 5. The error modeling and accuracy analysis of 6-PPPS macro moving system is studied. Based on the forward and inverse displacement analysis, two accuracy models were established. By contrast, the two models have the same result. When the precision of calculatio
15、n is considered, the accuracy model should be chose or combined use according to different situations. Accuracy distribution characteristic is analyzed, and accuracy compensation method is given. 6. The trajectory planning of 6-PPPS macro moving system is studied. After the motion characteristic ana
16、lysis of a 6-PPPS mechanism, the methods of path planning and realizing motion characteristic are given in translation trajectory planning. Based on the driving orientation space, orientation trajectory planning is presented. The boundary conditions of joint trajectory planning are discussed to implement the orientation path. Trajectory planning under the condition of velocity constraint has been discussed. After the analysis of trajectory planning of 6-PPPS mechanism with velocity constraint,
