三自由度平面驱动冗余并联机器人刚度性能与尺寸关系研究  

Study of Relationship between Stiffness and Link Lengths of Planar Three Degree-of-Freedom Parallel Manipulator with Actuation Redundancy

作　　者：王冰[1] 周志权 聂旭萌 

机构地区：[1]北华航天工业学院机械工程系,河北廊坊065000 [2]烟台龙源电力技术股份有限公司,山东烟台264006

出　　处：《机床与液压》2015年第3期34-37,28,共5页Machine Tool & Hydraulics

基　　金：河北省高等学校科学技术研究青年基金资助项目(Q2012059);河北省科技支撑计划项目(13211824)

摘　　要：以平面三自由度驱动冗余并联机器人为研究对象,应用空间模型理论建立了机器人机构的空间模型,求解机器人机构的速度雅可比矩阵和柔度矩阵,进而得到全域刚度性能评价指标。在此基础上探讨了机器人机构刚度性能与运动学尺寸之间的关系,并绘制了刚度性能图谱。这些图谱将有助于该机器人机构的优化设计。The three degree-of-freedom （3-DOF） planar parallel manipulator with actuation redundancy was taken as the object of study. The theory of geometric model of the solution space was utilized to obtain the solution space of the mechanism of manipulator. Velocity Jacobian matrix and flexibility matrix of the mechanism were solved, and then the global stiffness performance evaluation indi- ces were gotten. Base on these, the relationship between the stiffness and the kinematics lengths of the mechanism of manipulator was discussed, and the corresponding performance atlases of stiffness were plotted. The atlases are very useful for optimized design of the structure of manipulator.

关 键 词：并联机器人 驱动冗余 空间模型 性能图谱 刚度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]