并联机构复合球副优化设计  

Optimization Design of Compound Spherical Joint uesd in Parallel Mechanism

作　　者：马运忠[1] 张玉茹[1] 曹永刚[1] 

机构地区：[1]北京航空航天大学机器人研究所 虚拟现实国家重点实验室,北京100083

出　　处：《机械设计与研究》2007年第4期13-16,24,共5页Machine Design And Research

基　　金：国家自然科学基金:牙科手术模拟触觉交互系统稳定性研究(50575011)

摘　　要：分析了复合球副的结构及其工作空间,研究了复合球副结构夹角对6-RSS并联机构工作空间的影响。针对复合球副极限转角条件下无法满足并联机构工作空间指标要求这一问题,进行了复合球副的安装角度的优化设计,使得6-RSS并联机构工作空间不受复合球副工作空间的限制,并联机器人的工作空间算法限制因素减少、运动控制算法简单,提高了并联机器人的机构性能。This paper analyses the mechanism and workspace of compound spherical joint, studies the relationship between 6-RSS parallel mechanism workspace and the mechanism angle of compound spherical joint, and optimizes the setting angle of compound spherical joint to satisify the workspace of the parallel machanism which cannot be resolved by the limit angles of compound spherical joint. By doing this, the workspace of the 6-RSS parallel mechanism, is not constrained by the workspace of compound spherical joint, both the forward and backward kinematics become easier, and the performance of 6-RSS parallel mechanism is improved.

关 键 词：复合球副 并联机构 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]