一种6-6UHU并联机器人的设计和实验研究  

Development of a 6-6UHU Parallel Manipulator and Its Experiment

作　　者：冯远静[1] 冯祖仁[1] 李良福[1] 周冰[1] 

机构地区：[1]西安交通大学系统工程研究所,西安710049

出　　处：《机械科学与技术》2004年第8期947-949,共3页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目 ( 60 175 0 15 );"2 11"工程建设项目;西安交通大学"行动计划"项目资助

摘　　要：研制了一种新型结构的大工作空间 6 6UHU并联机器人。通过对虎克铰摆角极限对机器人工作空间的影响研究 ,在机构设计上解决了杆间干涉和下关节极限问题 ,简化了干涉检测算法 ,降低了运动控制算法的复杂性 ,并且增大了工作空间。研制出基于DSP的多轴控制器PMAC卡的交流伺服电机控制系统和实验系统 ,并进行了实验。给出了不同姿态下该机器人的工作空间分析。仿真数据和实验结果表明 ,所研制的新型 6 6UHU并联机器人 ,结构精巧 ,工作空间大 ,动平台的倾斜角达到 4 5° ;同时具有高刚度、高精度、操作性能好等特点。A novel 6-6UHU parallel manipulator with large workspace is developed, and the mechanical characteristics of the manipulator are introduced. Through studying the relations between universal joints′angle limits and workspace of the manipulator, we solve the leg intervention and angle limits of bottom universal joints by manipulator mechanism, which simplifies the intervention checking algorithm and control algorithm, and enlarges the workspace. The control and experiment system of the manipulator based on programmable multi-axis controller is designed. The workspace simulation analysis with respect to a variety of postures is given. The simulation results show that the manipulator developed has larger workspace compared with general stewart platform. The moving platform′s pitch angle reaches 45°. The experiment of a real manipulator shows that it possesses good maneuverability, high load capability, high movement repeatability and high precision. The safeguard system ensures the safety of the manipulator in the workspace.

关 键 词：并联机器人 控制系统 安全保护系统 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]