[PP]S类并联机器人机构姿态描述方法  

Attitude Description Method of [PP]S Type Parallel Robotic Mechanisms

作　　者：刘辛军[1] 吴超[1] 汪劲松[1] BONEV I 

机构地区：[1]清华大学精密仪器与机械学系,北京100084 [2]魁北克大学蒙特利尔分校 蒙特利尔H3C1K3加拿大

出　　处：《机械工程学报》2008年第10期19-23,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50505023，50775118);国家高技术研究发展计划(863计划，2006AA04Z227);国家重点基础研究发展计划(973计划，2007CB714000)资助项目。

摘　　要：具有至少两个转动自由度的空间并联机器人机构的姿态描述是机构运动学分析的一个重要内容,描述方法对机构性能分析起着重要作用。[PP]S类并联机器人机构(连接动平台的三个球铰链始终在固定的平面内作平面运动的并联机器人机构)的动平台具有一个移动和两个转动自由度,是并联机器人机构的重要分支之一,位姿描述也是国内外研究的重点。介绍一种用两个角度描述[PP]S类并联机器人机构姿态的方法,采用该姿态描述方法,[PP]S类并联机器人机构的位姿描述参数可以减少到5个,而且没有绕垂直于动平台平面的轴线的转动伴随运动,减小了此类并联机器人机构运动学分析的难度。与采用3个欧拉角的姿态描述方法相比,这种方法具有运动学描述简单以及伴随运动和姿态工作空间描述方便等优点,符合工程应用需要,是值得推广的一种姿态描述方法。Attitude description of the parallel robotic mechanism with at least two orientational degrees of freedom （DOFs） is one of the important contents in kinematic analysis. The description method plays a key role in the performance analysis of such mechanisms. The [PP]S type of parallel mechanism, which is such a mechanism that when the mobile platform moves the center points of three spherical joints in the mobile platform are always in three vertical planes, is one of the important members in the family of parallel mechanisms. Its pose description is also the research emphasis at home and abroad. A method using two angles is introduced to describe the attitude of this type of parallel mechanism. By using this method, the description parameters of the [PP]S type parallel mechanism can be reduced to 5. There is no parasitic motion about the perpendicular of the mobile platform plane, and the kinematic analysis of this type of parallel mechanism can be simpli fled. Compared with the description by using three Euler angles, the introduced method has the advantages in terms of simple description of kinematics, and convenient description of the parasitic motion and attitude workspace. This method fulfils the requirement of industrial application, and is worthy to be popularized.

关 键 词：并联机器人 并联机构 姿态 

分 类 号：TG242[金属学及工艺—铸造]