基于2TIR机构串并联机器人位置分析及仿真  

Position Analyses and Simulation of a Series-Parallel Manipulator Based on2TIR

作　　者：余顺年[1] 陈扼西[1] 马履中[2] 

机构地区：[1]集美大学机械工程学院,福建厦门361021 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《机械设计与研究》2006年第5期41-44,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50375067);福建省教育厅资助科技项目(OAJ04231)

摘　　要：根据串联机构和并联机构的特点,设计了一种串并联机器人新机型。通过对该机器人机构运动特征分析,求出了其位置正反解析解,并将用PRO/E建立的虚拟样机导入到ADAMS软件中进行了位置的动态仿真,验证了理论分析的正确性。该机器人动平台具有三个平移和一个转动自由度,与具有同样运动特性的并联机构相比,该机器人机构的工作空间大,转动自由度运转灵活。同时,该机器人机构的运动学正反解求解容易,便于实现实时控制。该机器人机构可应用于工业机器人、中医推拿机器人等领域。A novel series-parallel manipulator was designed according to the characteristics of series and parallel mechanisms. The solutions for both inverse and direct kinematics were obtained on the basis of the analyzing the mechanism kinematics. Using a software code of ADAMS, the dynamic simulation was conducted with the help of the virtual prototype established by the software of PRO/E, which verified the correctness of the theoretical inference. The manipulator＇s moving platform was with three translational and one rotational degree of freeom. Compared with the parallel machanism that has the same kinematic characteristics,the manipulator mechanism＇s workspace was large and its rotational degree of freedom was flexible. At the same time, its close-formed kinematics solutions was easy in the solution of position analysis and easier to accomplish real-time control. The mechanism can be applied in the fields of industrial robots and massage robots.

关 键 词：串并联机器人 虚拟样机 位置分析 动态仿真 

分 类 号：TH112[机械工程—机械设计及理论]