新型纯移动并联机构的运动学和灵巧性分析  

Kinematics and Dexterity Analysis of a Novel Pure Translational Parallel Manipulator

作　　者：张彦斌[1] 张海军[2] 吴鑫[1] 

机构地区：[1]河南科技大学建筑工程学院,河南洛阳471003 [2]南京农业大学工程学院,江苏南京210031

出　　处：《机床与液压》2010年第15期13-16,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(50905055);河南省教育厅自然科学基金项目(2010A460006);河南科技大学博士科研启动基金项目

摘　　要：提出一种新型的具有拓扑对称结构的空间移动并联机构,其3条分支中各含有一个平行四边形结构。利用螺旋理论对该机构的活动度及类型进行分析,给出机构的位置正、逆解析解,推导出映射机构主动关节输入速度矢量和动平台输出速度矢量关系的雅可比矩阵,并对机构的灵巧性进行分析。由于机构输入-输出速度间存在一对一的控制关系,所以机构具有完全解耦性。该机构在并联机床、医用机器人等领域有潜在的应用前景。A novel spatial translational parallel manipulator with fully-symmetrical topological structures was presented.A parallelogram was used in each limb of the manipulator.The mobility and its type of the manipulator were analyzed based on screw theory.The forward and the inverse position problems of the mechanism were investigated respectively.The Jacobian matrix,mapping the input velocity vector of the actuated joints into the output velocity vector of the moving platform,was derived.The dexterity of the manipulator was analyzed.There existed one-to-one corresponding relationship between the input and output velocities,so the kinematics of the manipulator was fully decoupling.The mechanism proposed has widely potential applications in virtual parallel machine tool,medical robots.

关 键 词：并联机构 运动分析 螺旋理论 灵巧性分析 

分 类 号：TH112[机械工程—机械设计及理论]