3-UPS/S并联平台结构设计与运动学分析  

Design and kinematic analysis of 3-UPS/S parallel mechanism

作　　者：杨冬[1] 李铁军[1] 刘今越[1] 刘智光[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计》2014年第3期47-51,共5页Journal of Machine Design

基　　金：国家科技支撑计划资助项目(2013BAF07B08)

摘　　要：针对建筑板材安装机器人工作流程及载荷要求,研制开发了用于机器人姿态调整的3-UPS/S结构并联平台。根据板材安装的特定环境,提出了基于倾角和激光测距传感信息反馈的机器人位姿检测方法。建立了机器人并联平台运动分析的数学模型,推导了其姿态运动学逆解方程,并通过ADAMS仿真验证了方程的正确性。试验结果表明,该并联平台的结构设计合理,能够实现大质量、大尺寸建筑板材的自动化安装。Aiming at work flow and load requirements of building slabstone installation robot,3-UPS/S structure parallel platform for robot attitude adjustment was developed. Aeeording to the speeifie environment of the plate installation, robot position and orientation detection method based on the inclination and laser ranging sensor information feedback is proposed. Robot parallel platforms mathematical model was established,its gesture inverse kinematics solving equations were derived. The correctness of the equation was verified by ADAMS simulation. Robot experimental results show that the structural design of the parallel platform is reasonable ,allowing to achieve the automated installation of great quality, large-size building boards.

关 键 词：3-UPS S结构 并联平台 姿态检测 运动学逆解 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]