一种新型并联机器人的奇异性与工作空间研究  

Study on Singularity and Workspace of a Novel Parallel Manipulator

作　　者：刘玮[1] 常思勤[1] 

机构地区：[1]南京理工大学,南京210094

出　　处：《中国机械工程》2012年第7期786-790,共5页China Mechanical Engineering

基　　金：江苏省科技支撑计划资助项目(BE2008133)

摘　　要：针对一种六棱锥式新型并联机器人的轨迹规划问题,基于具有反解选取准则的机构逆运动学方程,对奇异性和工作空间进行深入研究。由雅可比矩阵提出机构奇异判别方程,并引入可操作度性能指标进行奇异性分析。考虑运动副范围以及连杆干涉等约束条件,采用三维边界搜索法,给出机构在定姿态下工作空间的三维可视化描述。进行边界采样实验,实验结果表明了仿真的正确性。研究结果可为无奇异轨迹规划提供理论依据。To solve the path planning problem of a six pyramid parallel manipulator,singularity and workspace of the manipulator were studied based on inverse kinematics equations with selecting criterion.A singular criterion equation was proposed by Jacobian matrix,and manipulability degree was introduced to analyze the singularity performance.Considering the limit of the joint and interference of linkages,a 3D workspace of the manipulator was presented by 3D boundary search method.Edge sampling experiments were done to show the simulation correctness and to provide theoretical basis for non singular path planning.

关 键 词：并联机器人 逆运动学 奇异位形 工作空间 

分 类 号：TH12[机械工程—机械设计及理论]