6自由度串并联机器人的逆运动学分析  

Inverse Kinematics Analysis of 6-DOF Series-parallel Robot

作　　者：胡安元[1] 赵现朝[1] 高峰[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2010年第1期52-55,共4页Machine Design And Research

基　　金：国家重点基础研究开发计划(973计划)资助项目(2006CB705400)

摘　　要：研究了一种新型的6-DOF串并联机构,此串并联机构由一个5-DOF的并联机构串联一个转动副组成。建立了此串并联机构的运动学方程;进行位置反解,并提出一个求解算法——逐次搜索法;分析了机构的奇异位型,根据奇异性提出构型改进措施。通过构建一、二阶影响系数矩阵,对速度和加速度进行分析,基于MATLAB给出了数值仿真。A new type of Series-parallel mechanism is studied in this paper, which consists of 5-DOF body with a rotary joint in series. The kinematics equations of the mechanism was established. The inverse-solution was done with an algorithm--Successive search method. The singular configurations. According to the singularity phenomenon the improyement was proposed. Velocity and acceleration were analyzed by constructing the first and second order influence coefficient matrixes, and a rumerial simulation was tested by MATLB.

关 键 词：串并联机构 运动学分析 逐次搜索法 奇异性 

分 类 号：TH232[机械工程—机械制造及自动化]