大范围作业数控型二自由度并联操作手及其运动特性的研究  

Research on a Novel 2-dof NC Parallel Manipulator with Large Workspace and Its Motion Characteristics

作　　者：沈惠平[1] 丁磊[1] 邓嘉鸣[1] 李菊[1] 刘善淑[1] 

机构地区：[1]常州大学,常州213016

出　　处：《中国机械工程》2010年第22期2734-2739,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50875261;51075045);江苏省自然科学基金资助项目(BK2008145)

摘　　要：提出了一种简易实用的二平行导轨二滑块驱动在一侧的可变长平面并联机构,分析了该机构的结构特点,发现该机构具有大范围作业空间的优势。推导了该机构的运动学正反解计算公式,基于其运动学反解,仿真分析了该机构末端执行器满足各类直线、圆轨迹时,二滑块驱动的运动规律及特性,并在研制的实验样机上得到了验证。An innovative,simple and practical planar parallel mechanism was presented,which was with two parallel axis and two slide-drivens on one side.Its structural characteristics and the advantages of large workspace were analyzed,and the positive and negative solutions were given.Based on its negative solution,the motion simulation and characteristics of the end effector of the mechanism were carried out,when it produced all kinds of straight lines and circles.The results were validated on a experimental prototype.

关 键 词：并联机构 运动分析 运动综合 工作空间分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]