一种新型三维平移并联机器人机构运动分析及仿真  

Kinematics Analysis and Simulation of a Novel 3-DOF Translational Parallel Robot Mechanism

作　　者：原大宁[1] 周岩[1] 张彦斌[2] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048 [2]河南科技大学建筑工程学院,洛阳471003

出　　处：《机械科学与技术》2011年第4期625-628,633,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50575180);陕西省重点学科建设专项资金项目;陕西高校省级重点实验室科研项目(2010JS080)资助

摘　　要：分析了一种新型3-CRC三维平移并联机器人机构。首先基于单开链单元理论对该机构的活动度、主动副的选取及运动输出特性进行了研究;然后分析了该机构在选取不同主动输入情况下动平台位置、速度的正、逆解析解,同时讨论了机构的灵巧度,并求出了其数值解;最后应用ADAMS软件进行了实例参数的计算和运动仿真,验证了理论分析的正确性。A novel 3-CRC parallel robot mechanism that can perform three-dimensional translations was analyzed.First,the calculation of its degree of freedom and the actuated joints choice of the mechanism were discussed.The motion output analysis was investigated according to the structural theory of parallel mechanism based on the units of single-open-chain climb.Then the analytical solutions of position and velocity were addressed for both the forward and the inverse kinematics with different inputs.The dexterity and its numerical solutions of this parallel robot mechanism were discussed.Finally,the kinematic simulation of this mechanism was performed by ADAMS.As a result,the correctness of theoretic analysis is proved.

关 键 词：并联机器人机构 运动分析 灵巧度 仿真 

分 类 号：TH112[机械工程—机械设计及理论]