新型-平移一转动并联机构及奇异位形分析  

A New Type 1 Translation-1 Rotation Parallel Manipulator and Its Singularity Analysis

作　　者：尹小琴[1] 赵广红[1] 凌乐军[1] 马履中[1] 

机构地区：[1]江苏大学智能机械与机器人研究所,江苏镇江212013

出　　处：《机械设计与研究》2012年第6期30-32,36,共4页Machine Design And Research

基　　金：国家“863”高科技资助项目(2010AA040201);高等学校博士点专项科研基金资助项目(2009327120007)

摘　　要：根据并联机器人机构结构综合理论,以单开链支路为单元,改进了一种能实现空间一维移动和一维转动的二自由度并联机构。运用封闭矢量多边形投影法建立了该并联机构的运动学模型,得出了基于Jaco-bian矩阵形式的机构运动学输入输出方程。采用Jacobian代数法对机构的奇异位形进行分析,得出机构可能出现奇异位形的类型和条件。通过ADAMS虚拟样机的模拟和仿真,验证理论分析方法和相关结论的正确性,为将该并联机构用作中医推拿机器人的末端执行器,有效完成多种推拿动作提供重要保障。According to the structural synthesis theory of parallel robot mechanism, a new type 2-DOF end-effector of parallel manipulator for realizing 1 translation -1 rotation was improved based on the units of single-opened-chain limb. The kinematics model of the parallel mechanism was established using vector analysis method. It was obtained that the input/output form kinematics equations based on Jacobian matrix. Types and conditions of the singularity were created using the Jacobian algebra method for singular analysis. The theoretical analysis method and relevant conclusions were verified through ADAMS virtual prototype modeling and simulation, This parallel mechanism will be used as the end actuator of the Chinese massage robot, and can effectively complete a variety of massage action.

关 键 词：并联机构 单开链 运动学 奇异位形 

分 类 号：TH112[机械工程—机械设计及理论]