RRR-UPRR-RPUR球面转动并联机构运动学分析  

Kinematics Analysis of RRR-UPRR-RPUR Spherical Parallel Manipulator

作　　者：张帆[1] 张丹[2,3] 杨建国[3] 

机构地区：[1]上海工程技术大学机械工程学院,上海201620 [2]安大略理工大学工程与应用科学学院 [3]东华大学机械工程学院,上海201620

出　　处：《农业机械学报》2011年第9期202-206,224,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50975046);上海市高校培养优秀青年教师科研专项基金资助项目(gjd09036);上海仓储物流设备工程技术研究中心项目(10dz2250800)

摘　　要：构造了RRR-UPRR-RPUR球面转动并联机构,该机构具有3个连续的转动自由度,其中2个转动自由度完全独立并由单个驱动器驱动,实现了三自由度球面转动的运动解耦。首先,根据螺旋理论建立运动支链中运动副在一般位形下的运动螺旋形式,实现对球面转动并联机构自由度的连续性判断。其次,利用线性代数方法,推导出并联机构动平台及相邻杆件的运动学模型,建立了球面转动并联机构的运动学正解的解析算法。最终,利用软件实体造型的运动仿真功能验证了理论计算结果。An RRR - UPRR - RPUR parallel manipulator which can achieve spherical motion around fixed point was presented. The manipulator has three rotational degree-of-freedom （DOF）, of which two rotational DOFs are independent and could be actuated by single actuator. The screw formulations of kinematic joints under ordinary configuration were established, which was employed to determine the three continues rotational DOF of the manipulator. Then, the kinematics of moving-platform and adjacent part were deduced, and the analytical algorithm of direct kinematics of the mechanism was established. Finally, the theoretical results are verified by the motion simulation of the prototype mechanism.

关 键 词：球面转动并联机构 解耦运动 螺旋理论 自由度分析 

分 类 号：TH122[机械工程—机械设计及理论]