2(2-UPR+SPR)串并联机构雅可比矩阵的建立  

Jacobian Matrix Establishment of 2(2-UPR+SPR) Serial-parallel Manipulator

作　　者：胡波[1,2] 宋春晓[1,2] 张庆玲[1,2] 于晶晶[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成型技术与科学教育部重点实验室,秦皇岛066004

出　　处：《中国机械工程》2015年第7期853-858,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51305382);河北省高等学校科学技术研究优秀青年基金资助项目(YQ2013011);机器人技术与系统国家重点实验室开放研究基金资助项目(SKLRS-2012-MS-01);河北省科技计划资助项目(13211610);燕山大学机械工程学院协同创新研究项目(JX2014-02)

摘　　要：建立了一种新型串并联机构的雅可比矩阵。首先,介绍了一种新型的2(2-UPR+SPR)串并联机构,该机构由两个2-UPR+SPR机构串联而成,它具有串联机构和并联机构的共同优点。然后,根据2-UPR+SPR机构中存在的几何约束建立了其速度约束矩阵和速度耦合矩阵。最后,分析了2(2-UPR+SPR)串并联机构的速度传递关系,通过合理处理独立并联机构的速度耦合和约束关系,建立了2(2-UPR+SPR)串并联机构整体正向和逆向雅可比矩阵。研究结果表明,2(2-UPR+SPR)机构的雅可比矩阵包含各个独立并联机构的运动、约束和耦合信息。所提出的建立2(2-UPR+SPR)机构雅可比矩阵的方法也适合其他串并联机构。The Jocobian of a novel 2 （2-UPR＋SPR）serial-parallel manipulator was established. First,a 2（2-UPR＋SPR）serial-parallel manipulator formed by two 2-UPR＋SPR mechanisms was presented.This manipulator could provide advantages of both serial and parallel manipulators.Sec-ond,the velocity decoupling and velocity constraint equations for single 2-UPR＋SPR were analyzed based on the geometric constraints in the mechanism.Finally,the velocity transfer relation for the 2（2-UPR＋SPR）serial-parallel manipulator was analyzed.Based on the velocity decoupling and con-straint characteristics of single 2-UPR＋SPR mechanism,the integral forward and inverse Jacobian matrix for 2（2-UPR＋SPR）serial-parallel manipulator were established.The results show that the established Jacobian matrices contain kinematics, coupling and constraint information of each 2-UPR＋SPR mechanism.The methodology for establishing the integral Jacobian matrix of the 2（2-UPR＋SPR）serial-parallel manipulator herein is also fitable for other serial-parallel manipula-tors.

关 键 词：串并联机构 Exechon机构 雅可比矩阵 运动学 

分 类 号：TH112[机械工程—机械设计及理论]