一种新型四自由度并联机器人运动学特性  

A Novel 4-DOF Parallel Manipulator Kinematic Analysis

作　　者：赵宏彬 

机构地区：[1]中冶东方工程技术有限公司,内蒙古包头014010

出　　处：《机电产品开发与创新》2009年第4期11-13,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：提出一种新型四自由度并联机器人机构,命名为2UPU/2SPSI1机构,该机构可以实现空间的三维移动和一维转动。采用计算机辅助几何法,建立并联机器人模拟机构,得到动平台位置轨迹,并采用拟合法分析动平台速度﹑加速度。采用解析法建立机构的位置正反解方程,并基于影响系数法推导速度﹑加速度方程,对计算机辅助几何法的分析结果进行验证。验证结果表明,计算机辅助几何法研究并联机器人的运动学特性是可行的,值得推广。A novel 4-DOF parallel manipulator is proposed, named with 2UPU/2SPS I1, and it can realize three degrees of translational freedom and one degree of orientational freedom. First, a 4-DOF simulation mechanism is created by using computer aided geometry approach, and the displacements of the moving platform are recorded, then the velocity and acceleration are derived from the equation of trajectory. Second, the direct and inverse displacement equations of the parallel manipulator are established by analyfcs, then the velocity, and the acceleration equations of the moving platform are solved by influence coefficient approach. Finally, the results of computer simulation and analytics calculation prove that the computer-aided geometric approach for solving kinematic analysis is feasible and recommendable.

关 键 词：计算机辅助几何法 并联机器人 模拟机构 运动学特性 影响系数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]