非对称2T1R并联机构的运动学和灵巧性分析  

Kinematics and Dexterity Analysis of an Asymmetrical 2T1R Parallel Mechanism

作　　者：张彦斌[1] 吴鑫[2] 张树乾[2] 

机构地区：[1]河南科技大学规划与建筑工程学院 [2]河南科技大学机电工程学院,河南洛阳471003

出　　处：《河南科技大学学报（自然科学版）》2010年第6期15-18,共4页Journal of Henan University of Science And Technology:Natural Science

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：提出一种非对称空间并联机构,其动平台相对于静平台具有两个移动和一个转动自由度。利用单开链单元理论对机构的运动输出特性进行了分析,并对其自由度数目进行了计算。推导出机构位置的正、逆解析解,以及速度矢量方程。根据机构灵巧性分析可知,当机构处于某一特殊位形时,其运动学条件指标等于1,即该机构为各向同性并联机构。因而所提出机构具有良好的运动学性能,在工业机器人、医用机器人和微操作机器人等领域具有潜在的应用前景。A asmmetrical spatial parallel mechanism,in which the moving platform has two-translational and one-rotational(2T1R) degrees of freedom with respect to the fixed base,is proposed.The output motion characteristics of the mechanism was analyzed based on the single-open-chain-unit theory,and the number of the degree of freedom was calculated.The farward and the inverse analytical position solutions and the velocity vector equation were derived.According to the dexterity analysis,it is know that when the mechanism lies in a special configuration,the kinematic condition index is equal to 1,i.e.,this mechanism is an isotropic parallel manipulator.Therefore,the mechanism has well kinematical performances and has widely potential applications in the fields of industrial robots,medical devices and mic-operation robots.

关 键 词：并联机构 灵巧性 位置分析 自由度 

分 类 号：TH112[机械工程—机械设计及理论]