3-RRP球面并联机构的运动学分析  

Kinematics Analysis of a 3-RRP Spherical Parallel Manipulator

作　　者：郭彦军[1] 李瑞琴[1] 何水琴 张志良[1] 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械设计与制造》2014年第4期199-201,205,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51275486)

摘　　要：对具有三条RRP分支运动链的3-RRP球面三自由度并联机构进行了逆运动学分析。该结构比较简单,可应用于工业机器人、并联机床、位姿调整器和少自由度微型模拟器等领域。提出运用Rodriguez参数对并联机构末端运动进行更简单、快速描述的新思路,建立了3-RRP并联机构的位置逆解模型和雅可比矩阵,并由笛卡尔坐标的离散化对机构的工作空间进行了分析。研究结果为进一步研究此种并联机构的刚度分析、动态性能、机构优化设计和系统控制等都有非常重要的意义。It addressed the inverse kinematics analysis of a 3-DOF 3-RRP spherical parallel manipulator, which had three sub-chains. This structure is simpler and the parallel mechanism that can be applied in the fields of industrial robots, parallel machine tools, posture adjuster and less degrees of freedom micro-simulator.The use of Rodriguez parameters provides a more simple, quick description of new ideas for the parallel mechanism. The inverse displacement analysis as well as Jacobian matrix was proposed. A t last, by performing a numerical discretization of the Cartesian space it determined the workspace. The results can provide necessary information for stiffness analysis, dynamic performance analysis, optimization design and control of the 3-RRP parallel mechanism.

关 键 词：球面并联机构 逆运动学分析 雅可比矩阵 工作空间 

分 类 号：TH16[机械工程—机械制造及自动化]