直角坐标串并联机器人及其冗余驱动运动参数敏感性分析  

Cartesian coordinated serial-parallel robot and analysis of its sensitivity affected by redundant driving kinematic parameters

作　　者：罗建国[1] 陆震[1] 

机构地区：[1]北京航空航天大学

出　　处：《机械设计》2007年第2期14-18,41,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50375007)

摘　　要：直角坐标串并联机器人的运动平台在运动过程中保持特殊形式的前提下,机构的运动学反解唯一确定,通过对6个直线输入运动参数分别对输出主轴在空间的位置和姿态的敏感性的实证研究与分析,得出机构的上层动平台和下层动平台的输入运动参数对输出主轴的空间位置和姿态变化的敏感性方面所起的不同关键作用,同时还对该机器人的冗余驱动结构形式的敏感性也做了分析,从而知道各输入运动参数在影响输出主轴位姿变化上的差异。Under the premise of the moving platform of Cartesian coordinated serial-parallel robot is maintaining in a specific form during the moving courses could only the kinematics reverse solution be determined. By means of the authentic proof study and analysis on the sensitivities of the spatial position and posture of output spindle affected by 6 linear inputted kinematic parameters, different key effects made by the inputted kinematic parameters of the upper and lower level of moving platforms of the mechanism onto the sensitivities respect of the variations of spatial position and posture of output spindle were obtained. At the same time an analysis on the sensitivities of the redundant driving structural forms of this robot was made as well, thus make known the differences on the variation of postures of outputting spindle affected by each inputting kinematic parameter.

关 键 词：串并联 动平台 冗余驱动 姿态 敏感性分析 参数 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]