2-CRR/PSS并联机器人机构的运动学分析  

Kinematics analysis of 2-CRR/PSS parallel robot mechanism

作　　者：常兴[1] 房立丰[1] 洪啸虎[1] 黄镍[1] 

机构地区：[1]解放军理工大学工程兵工程学院,江苏南京210007

出　　处：《机械研究与应用》2011年第6期3-4,7,共3页Mechanical Research & Application

基　　金：国家自然科学基金资助项目(50875261)

摘　　要：根据并联机器人机构结构综合理论,提出一种能够实现空间三维移动的并联机器人机构——2-CRR/PSS并联机构,运用方位特征集法对其进行了结构特征分析及自由度的计算,建立了机构运动学数学模型,给出其位置正逆解、速度、加速度的分析方法,机构的运动学模型为该机构作进一步的运动学动力学分析及优化设计研究打下基础,并为系统控制提供理论依据。According to the theory of the structure type synthesis of parallel robot mechanism,a spatial 3-DOF parallel robot mechanism with 3-translation——2-CRR/PSS parallel mechanism is proposed.Through the method of position and orientation characteristic（POC） matrix,a structure characteristics analysis is given and the DOF of the mechanism is calculated.The mathematical model of kinematics is established,and there is a analysis for the mechanism,including the forward and inverse position analysis,the velocities and the accelerations analysis.Its kinematics model will be the foundation for its kinematics and dynamics analysis and optimal design research furtherly,and it provides a theoretical base for the system control of this mechanism.

关 键 词：并联机构 方位特征 运动学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]