6-UPS钢带并联机器人的位置分析及其仿真  

Position Analysis and Simulation of 6-UPS Spreadbands Drive Parallel Manipulator

作　　者：苏先义[1] 艾青林[1] 胥芳[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,浙江杭州310014

出　　处：《轻工机械》2009年第4期36-38,42,共4页Light Industry Machinery

基　　金：国家自然科学基金项目(50805129);浙江省自然科学基金项目(Y106028)

摘　　要：研究了一种具有三角形平台的6-UPS钢带并联机器人机构。证明了该机构在初始位置和一般情况时,机构做三维平动。运用解析几何中的坐标变换和投影,得出一种有效求解位置反解的新方法,通过MATLAB软件对该方法进行了仿真和验证。6-UPS钢带并联机器人作为并联机器人的一种新的结构形式,其操作灵活性和运动性能都有较大的改善。该机构可应用于狭窄管道和深孔中的移动检测作业、水果的自动采摘等方面。This paper studied a 6-UPS Spreadbands drive parallel manipulator with a triangle platform. And it has been that under the initial position and general condition, this mechanism moves in three directions. It put forward an effective new method to resolve the inverse position by using the conversion of coordinates and projection in analytic geometry, the method was simulated and verified by MATLAB. This mechanism is a new structure from parallel manipulator with Stewart platform, its mobility and motion have been greatly improved. It can be used in moving detection in limited piping and deep holes, auto picking the fruits, etc.

关 键 词：三角形平台 坐标变换 投影 位置反解 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]