2PPPPS-R-2PPPPS新型串并联机构分解和综合  

Decomposition and Synthesis of New Type 2PPPPS-R-2PPPPS Serial-parallel Manipulator

作　　者：罗建国[1] 何茂艳[1] 陆震[2] 黄真[3] 

机构地区：[1]华北科技学院机电工程系,北京101601 [2]北京航空航天大学电气工程及自动化学院,北京100083 [3]燕山大学机器人研究中心,秦皇岛066004

出　　处：《机械工程学报》2008年第5期62-67,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50375007)。

摘　　要：基于传统的串联和并联机构构建新型6自由度串并联机构,通过直线驱动实现输出主轴的三维移动和转动。利用机构分解和综合方法,将原机构一次分解可以得到一串联分解组元和一并联分解组元,将一次串联分解组元和一次并联分解组元二次分解,可分别得到4个二次串联分解组元和2个二次并联分解组元,将各组二次分解组元用等效机构表示,对各组元的等效机构逐级进行反向综合,从而得到原机构的等效机构,利用公式和空间活动能力表示方法可以求得机构的自由度,并可以得到机构活动空间能力的直观实体图示。采用解析几何的方法得到机构可达工作空间的形态为一规则的长方体,可达工作空间体积取决于机构平移运动副的运动极限。通过作图法对机构输出主轴在任意空间位姿的极限偏转角度进行分析,得知垂直可伸缩杆的极限长度是影响偏转的主要因素。A new type of serial-parallel manipulator with 6 degrees of freedom（DOF） is suggested based on traditional serial manipulator and parallel manipulator. Three dimensional translation and rotation of output shaf are obtained through lineal driving. One first level serial component and one first level parallel component are acquired by using dec omposition and synthesis after the first time decomposition. Four second level serial components and two second level parallel components are obtained after the second time decomposition based on the first level serial component and parallel component respectively. Each group of second level components is presented by equivlant mechanism. Each level of components is integrated reversely, thus the equivlant mechanism of the primary mechanism is obtained. Formula and ability of working space are used to obtain the DOF of this mechanism, also intuitionistic solid figure. Analytic geometry is used to obtain the regular cuboid of the reachable working space shape of mechanism, the volume of the reachable working space rest with the limit of translation of couplers. The rotational angle limit of output shaft at given configuration is analyzed through the method of drawing. Limit length of the vertical elongable poles is the primary influential factor.

关 键 词：串并联机构 分解 综合 自由度 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]