空间2T1R型并联机器人机构的设计与运动学分析  

Design and Kinematics Analysis of a 2T1R-type Spatial Parallel Robotic Mechanisms

作　　者：张彦斌[1] 张树乾[1] 吴鑫[1] 

机构地区：[1]河南科技大学机电工程学院,洛阳471003

出　　处：《机械科学与技术》2014年第4期484-489,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50905055);河南省教育厅自然科学基金项目(2010A460006);河南省高校青年骨干教师项目(2010GGJS-079);河南科技大学博士科研启动基金项目资助

摘　　要：提出一种新型3自由度空间并联机器人机构,该机构由动平台、定平台和联接两平台的3条结构不同的分支运动链组成,机构动平台具有二维移动一维转动(2T1R)自由度。通过将动平台退化为末端操作器和机构3条分支运动链排列次序的调整,演化出另外两种新型2T1R并联机器人机构,且演化后的机构末端操作器具有更高的转动性能,能实现360°回转。基于螺旋理论对所提出机构的自由度进行了分析和计算,推导出机构的运动学解析解,包括位置、速度和加速度。由于机构雅可比矩阵为单位阵,且其条件数恒等于1,故此类并联机器人为完全各向同性机构。A novel three degrees of freedom spatial parallel robotic mechanism, which consists of a moving platform con- nected with a fixed base by three different limbs, is proposed. Its moving platform has two-translational and one-rotary DOF with respect to the fixed base. Other two new 2T1R parallel mechanisms with higher rotational capability are evolved when the moving platform is degenerated to an end-effector and the assemble sequence of three limbs is adjusted. The DOF number of the parallel mechanisms is analyzed and computed based on the screw theory. The kinematic equations including position and pose, velocity and acceleration are established, the mechanism is fully-isotropic throughout the en- tire workspace as the Jacobian matrix is an identity one and its condition number is equal to 1.

关 键 词：并联机器人机构 完全各向同性 螺旋理论 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论]