基于3-RPC+RTPTR并联平台混合型机器人研究  

A Study of a Mixed-type Manipulator Based on the Parallel Mechanism 3-RPC+RTPTR

作　　者：余顺年[1] 纪跃波[1] 刘伟钦[1] 

机构地区：[1]集美大学,厦门361021

出　　处：《机械科学与技术》2009年第3期391-395,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家863计划项目(200708310002);福建省教育厅科技项目(JA07139);集美大学科研基金项目(ZQ2007020)资助

摘　　要：提出一种具有四角平台的新型机器人机构。该机器人的固定平台与动平台之间共有四条支链,其中三条相同为RPC,另一条为附加支链RTPTR。与普通的并联机构不同,该机器人以附加支链的旋转轴作为机器人的输出。该输出轴具有三平移一转动四个自由度。该机器人结构简单,特别是转动自由度独立灵活。本文对该机器人的运动学进行了分析,并通过ADAMS进行了仿真验证。The structure of a new manipulator with tetragonal platform was established. There are four branch chains between the fixed platform and the moving platform of the manipulator. Among them, three branch chains are the same, i. e. , RPC. Another one is an auxiliary chain-RTPTR. The output structure is the rotating axis of the auxiliary chain, and this is different from normal parallel mechanisms. There are four freedoms： three traslational freedoms and one rotational freedom. The structure of the manipulator is simple. Particularly, the rotational freedom is flexible and independent. In this paper, its kinematics was analyzed, and the analysis result was verified through simulations in ADAMS.

关 键 词：并联机构 混合型机器人 运动学分析 仿真研究 

分 类 号：TH112[机械工程—机械设计及理论]