完全各向同性2T1R空间并联机器人机构型综合  

Structural Synthesis of Fully-isotropic 2T1R Spatial Parallel Robotic Manipulators

作　　者：张彦斌[1] 吴鑫[2] 刘宏昭[3] 

机构地区：[1]河南科技大学规划与建筑工程学院,洛阳471003 [2]河南科技大学机电工程学院,洛阳471003 [3]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《农业机械学报》2011年第11期200-207,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50905055);河南省教育厅自然科学基金资助项目(2010A460006);河南省高校青年骨干教师资助项目(2010GGJS-079);河南科技大学博士科研启动基金资助项目

摘　　要：提出了完全各向同性二移动一转动(2T1R)空间并联机器人机构型综合的系统方法。首先根据机构各分支预期功能的要求,基于互易螺旋理论确定出各分支的驱动螺旋、主动螺旋和可动非主动螺旋;再按照分支连接度的不同列举出机构的各分支运动链;最后根据机构各分支装配要求将动平台和静平台连接起来即可得到预期的机构,并得到大量新型机构。实例分析验证了型综合方法的正确性。由于所综合出的并联机器人机构的运动雅可比矩阵均为单位阵,因此这类机构具有良好的运动学和力传递性能。A systemic methodology for structural synthesis of fully-isotropic two-translational and one-rotational（2T1R） spatial parallel robotic manipulators was proposed.According to the prescribed characteristics of each mechanism limb,the actuation screws,actuated screws and mobile unactuated screws of every limb were confirmed at first based on the reciprocal screw theory.Then the structural synthesis of each kinematic chain for fully-isotropic 2T1R spatial parallel robotic manipulators was performed in the light of different connectivity of the limbs.Finally,the anticipant manipulators were synthesized by connecting the moving platforms to the fixed bases and a lot of new mechanisms were attained.Kinematical analysis about one of manipulators designed here showed that the method is reasonable and correct.The kinematic Jacobian of the mechanism is an identical matrix,so it performed very well with regard to motion and force transmissions.

关 键 词：并联机器人 型综合 完全各向同性 

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]