新型一平移一转动并联机构的精度分析  

Accuracy Analysis of a New Type Parallel Manipulator With 1 Translation-1 Rotation

作　　者：尹小琴[1] 凌乐军[1] 赵广红[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》2014年第2期15-18,共4页Machine Design And Research

基　　金：国家"863"高科技计划资助项目(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。采用传递矩阵法研究了推拿机器人末端位姿误差。基于机器人末端执行器位置反解结果,通过全微分误差分析理论,建立误差模型,进行求解计算,构造了机器人末端执行器并联机构输出位姿误差与各误差源之间的对应关系。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。Based on the units of single-opened-chain limb, new type 2-DOF end-effectors of parallel manipulator for realizing 1 translation -1 rotation was improved, according to theories of the structure type synthesis of parallel kinematics mechanism. The end pose error of the massage robot which was caused by the static error was studied with the transfer matrix method. Based on the solution model position and through the whole differential error analysis theory the error model for calculating the solution was established. The corresponding relationship between the parallel mechanism output pose error of the massage robot end actuatoress and each error source was constructed. It will be the parallel mechanism used as the Chinese medical massage robot end actuator, and it can also effectively complete a variety of massage action for important guarantee.

关 键 词：并联机构 单开链 运动学 精度 

分 类 号：TH115[机械工程—机械设计及理论]