3自由度绳索牵引并联机器人的工作空间分析  

Working space analysis of cacble tractive 3 degree of freedom parallel robot

作　　者：张立勋[1] 刘攀[1] 张晓超 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2008年第11期24-26,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60575053);博士点基金资助项目(20060217024)

摘　　要：给出了所设计的平面1R2T三自由度绳索牵引机器人模型,建立了其运动学的逆解模型。在对机器人进行可达工作空间分析的基础上,提出了一种基于矢量封闭原理的可控工作空间;同时在MATLAB环境下采用Monte-Carlo方法对可达工作空间和可控工作空间进行了仿真。仿真结果表明机器人的可控工作空间都落在可达工作空间范围内,验证了可控工作空间分析方法的可行性。该方法也适用于多自由度的绳索牵引并联机器人。The being designed planar 1R2T 3 degree of freedom cable tractive parallel robot has been presented and its dynamics inverse solution model was established. On the basis of carrying out the analysis on working space reachable by the robot, a kind of controllable working space based on vector closed principle was put forward. And at the same time under the MATLAB environment simulations have been carried out on the reachable working space and controllable working space by adopting the Monte-Carlo method. The result of simulation showed that the controllable working spaces of robot were all fell into the region of reachable working space, thus verified the feasibility of the method of controllable working space analysis. This method is suitable to be applied to the multi degree of freedom cable tractive parallel robot as well.

关 键 词：绳索牵引 并联机器人 矢量封闭 工作空间分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]