基于影响系数法的冗余驱动并联机器人速度分析  

Velocity Analysis for a Redundantly Actuated Parallel Robot Based on Influence Coefficients

作　　者：李艳[1] 王勇[1] 

机构地区：[1]山东大学高效洁净机械制造教育部重点实验室,济南250061

出　　处：《组合机床与自动化加工技术》2009年第8期15-18,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(50775130);国家高技术研究发展计划资助项目(863计划;2008AA04Z130)

摘　　要：以平面二自由度冗余驱动并联机器人为研究对象,分别进行了逆运动学分析和正运动学分析,得出并联机器人的8种逆运动学解析解。运用影响系数法建立了系统的一阶影响系数矩阵,并设定了速度性能指标。对应8种不同的机构位形,绘制了相应的速度性能图谱,探讨了不同的机构安装方式对机构速度性能的影响,指出了较优的机构安装方式,为今后研究、设计和安装该类型并联机器人提供了依据。A planar 2-DOF redundantly actuated parallel robot is chosen as the object of study in this paper. Analysis of the inverse kinematics and the forward kinematics has been accomplished. There are 8 solutions for the inverse kinematics. The first order kinematic influence coefficient matrix has been set up using the influence coefficient method. Then the corresponding performance atlas has been plotted. The effects of the installation method on velocity performance have been discussed, and the optimal way has been pointed out. This paper has provided a basis for the design of this type of parallel robots.

关 键 词：影响系数法 冗余驱动 并联机器人 性能指标 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]