3-RRR高速并联机器人运动学设计与实验  

Experiment and Kinematic Design of 3-RRR Parallel Robot with High Speed

作　　者：高名旺[1,2] 张宪民[1] 刘晗[1] 

机构地区：[1]华南理工大学广东省精密装备与制造技术重点实验室,广东广州510641 [2]山东理工大学机械工程学院,山东淄博255049

出　　处：《机器人》2013年第6期716-722,共7页Robot

基　　金：国家自然科学基金重大研究计划项目(91223201);中央高校基本科研业务费项目(2012ZP0004);国家863计划项目(2012AA050302)

摘　　要：提出一种基于机构奇异和运动传递性能指标的高速并联机器人运动学优化设计策略.优化设计过程分为两步:首先构造了无量纲参数设计空间,在设计空间中,研究了3-RRR机构的奇异和可用工作空间,分析了机构奇异曲线的分布特点,确定了无内部奇异的3-RRR机构的参数取值范围;然后以全局条件数为目标函数、传动角为约束,对机构的运动学参数进行优化.利用这种方法设计了3-RRR并联机器人.实验结果表明,设计的并联机器人有良好的运动传递性能.An optimal kinematic design strategy of high-speed parallel robots is proposed based on performance of mechanism singularity and motion transmission. The presented method can be implemented in two steps. In the first step, a non-dimensional parameter design space is constructed. Within the design space, the available workspace and singularity of 3-RRR are then studied and the distribution characteristics of singularity loci are analyzed. The ranges of design parameters, which constitute 3-RRR manipulator free of internal singularities, are thereby obtained. In the second step, the kinematic parameters are optimized by considering global condition index as objective function and the transmission angle as constraint condition. 3-RRR parallel robot is designed using this method. The experimental result shows that the designed robot has excellent motion transmissibility.

关 键 词：并联机器人 3-RRR 运动学设计 奇异 运动传递性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]