一类3自由度空间并联机器人机构的设计及分析  

Design and Analysis of a Family of 3-DoF Spatial Parallel Manipulators

作　　者：张彦斌[1] 党玉功[1] 

机构地区：[1]河南科技大学建筑工程学院,河南洛阳471003

出　　处：《组合机床与自动化加工技术》2011年第2期17-20,共4页Modular Machine Tool & Automatic Manufacturing Technique

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资助;河南省高校青年骨干教师资助项目(2010GGJS-079)

摘　　要：基于单开链单元理论提出一种分支中含有平面6杆闭回路结构的空间并联机构,该机构的主动副为3个移动副,动平台相对静平台具有二维移动和一维转动(2T1R)自由度。通过将此机构的部分运动副替换又得到另外两种新型2T1R并联机构。分析了这类机构的位置逆、正解,其中位置逆解具有唯一性,而正解有两个。讨论了机构的工作空间和运动耦合性。由于这类机构结构简单,而且其运动学解具有弱耦合性,使得轨迹规划和控制较为简单,因此这类机构具有潜在的应用前景。A novel spatial parallel manipulator with three linear actuators,containing a planar six-bar closed-loop in one of its limbs,is proposed firstly,based on the single-open-chain unit theory.The moving platform of the manipulator has two-translational and one-rotational（2T1R） degrees-of-freedom.Then,another two new 2T1R mechanisms are obtained by replacing one or more joints of the first manipulator with other type joints.The inverse and the forward position solutions of the manipulator are derived.The inverse problem has only one solution and the direct has two solutions.Moreover,the workspace and the motion coupling of the manipulators are discussed.The structures of this family of manipulators are simpler and the kinematics is weakly-coupling,thus the path planning and control is easier.So they have a potential wide range of applications in parallel robot,virtual machine tool and others.

关 键 词：并联机构 运动分析 工作空间 弱耦合 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]