新型三自由度拟人并联机械臂及其位置分析  

Analysis for Novel 3-DOF Anthropomorphic Parallel Mechanical Arm and its Position

作　　者：陈伟强[1] 张才[1] 许亚敏[1] 

机构地区：[1]特种装备制造与先进加工技术教育部/浙江省重点实验室(浙江工业大学),浙江杭州310014

出　　处：《轻工机械》2012年第2期6-8,12,共4页Light Industry Machinery

基　　金：浙江省大学生科技创新活动计划项目(新苗人才计划2010R403065)

摘　　要：提出了一种新型三自由度拟人并联机械臂,该机械臂由3个直线电机控制,完成腕部的二维移动和一维转动。基于机械臂的结构几何关系,运用坐标变换方法,得出这种机械臂的逆、正解方程式,且是唯一的封闭解。在满足各机构约束的条件下,根据机械臂的逆解方程式,绘制了其工作空间轮廓图,为该机械臂的应用提供了理论基础。由于该机械臂的结构简单、工作空间大、装配方便等优点,因此在现在工业领域有着潜在的应用前景。A novel 3-DOF anthropomorphic parallel mechanical arm controlled by three linear motion actuators to carry out the two-translational and one-rotational motion of wrist was proposed in this paper. By using the conversion of coordinates to get the inverse and the forward position formulas of such mechanical arm with unique closed-form solutions are derived in detail considering the architecture feature of the mechanical arm. In addition, to meet the demand of constraining condition of all mechanism, the shape of workspace is described on the basis of the inverse position solution, which can provide theoretical base for the application of the mechanical arm. This novel 3-DOF anthropomorphic parallel mechanical arm has a potential wide range of applications in modem industry with its advantages of simpler structure, wider workspaee and more convenient assembling etc. [ Ch,3 fig. 11 ref. ]

关 键 词：三自由度机械臂 坐标变换 位置分析 工作空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]