无过约束少自由度并联机器人构型设计方法  

Synthesis Method of Non-overconstrained Lower-mobility Parallel Robots

作　　者：黄勇刚[1] 黄茂林[1] 向成宣[2] 秦大同[1] 

机构地区：[1]重庆大学,重庆400030 [2]重庆通信学院,重庆400035

出　　处：《中国机械工程》2009年第2期222-228,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50075087)

摘　　要：基于约束和集合论的观点研究无过约束、少自由度的并联机器人构型条件,提出无过约束构型设计的系统方法和一般步骤。以三自由度并联机器人为例,详细讨论无过约束构型设计的具体过程,综合出一类新的完全对称无过约束三自由度并联机器人。比较过约束结构与无过约束结构的差异。为少自由度并联机器人的构型综合提供了一种新的观点和方法,亦为消除过约束对运动副形位误差的敏感性提供了新的途径。Based upon wrench system and set theory, the structural conditions of non--overconstrained lower-mobility parallel robots and its synthesis method were proposed. The detailed synthesis procedure of 3-DOF parallel robots was discussed and a series novel symmetrical structures had been found. Finally, the difference between overconstrained and non-overconstrained structure was compared. This provides a new point of view and approach to the structural synthesis of lower-mobility parallel robots and a new way to eliminate the sensitivity of overconstraint with respect to geometrical erros of the kinematic pairs.

关 键 词：无过约束 少自由度并联机器人 构型条件 构型设计 

分 类 号：TH112[机械工程—机械设计及理论]