一种三自由度混联机械臂的运动学分析  

Research on Kinematics of A 3-DOF Series-Parallel Manipulator

作　　者：靳龙[1] 靳剑桥 陈岳坪[1] 邱敏敏[1] 

机构地区：[1]广西科技大学机械工程学院,广西柳州545006 [2]燕山大学里仁学院,河北秦皇岛066004

出　　处：《机械设计与研究》2014年第2期19-21,共3页Machine Design And Research

基　　金：广西科学研究与技术开发计划资助项目(桂科攻12118015-7B)

摘　　要：研究了一种新型机械臂,首先对该机械臂进行了自由度分析,得到该机械臂的自由度为3,具有平面内的两个移动自由度和一个转动自由度。把该机械臂安装在回转台上,可以实现空间360°范围内工作,末端执行器换成抓手即可以实现重物的搬运工作。基于环路传递的方法分析了该机构的运动学正反解,并且给出了5组正反解分析数值算例,验证了正反解分析的正确性。A novel manipulator is studied. The degree of freedom of this mechanism is gotten, which are two translation and one rotation in a plane. It can work within the scope of the 360° when the manipulator install on the rotary table. It can also complete the weight of handling work with gripper instead of the end actuator. Based on the method of loops, forward and inverse position kinematics analyses of the manipulator are derived, and the numerical examples are given. Comparative analysis of the results shows that the method is reliable.

关 键 词：机械臂 三自由度 运动学正反解 

分 类 号：TH112[机械工程—机械设计及理论]