基于螺旋理论的3-RPS型并联机器人运动学分析  

Kinematic analysis of 3-RPS type parallel robot based on screw theory

作　　者：朱大昌[1,2] 张国新[2] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640 [2]江西理工大学机电工程学院,赣州341000

出　　处：《机械设计与制造》2011年第7期149-150,共2页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(50965007);江西省教育厅2010年科技计划资助项目(GJJ10475)

摘　　要：3-RPS型并联机构具有三个结构对称的支链形式,各支链由一个转动副连接机座、一个球面副与动平台相连接,转动副与球面副由移动副所连接。采用螺旋理论及空间机构构型原理,通过约束形式分析得出该类型并联机器人运动性质,采用矢量分析方法对其运动学正解/反解进行求解,得出该并联机构运动学方程。基于对称非齐次性少自由度并联机构Jacobine矩阵,进一步对该类型并联机器人结构奇异性进行分析与总结。3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair.Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints.By applying vector analysis method the normal/inverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism.Furthermore,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.

关 键 词：3-RPS型并联机器人 螺旋理论 奇异性 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]