新型3-PRRS农业并联机器人运动学及工作空间分析  

Kinematics analysis and workspace of a new 3-PRRS agriculture parallel mechanism

作　　者：杜晴晴 郭宗和[1] 牛桂平[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2015年第5期37-42,共6页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：将新型六自由度3-PRRS并联机构应用于农业机器人领域,使其完成农业耕地、除草及分拣等工作.首先,利用闭环矢量法研究该机构的运动学反解,给出了解析形式的运动学反解.然后采用三维极坐标搜索法编程对该机构定姿态下工作空间的边界以及三维立体图进行研究,得到体积大、无空洞、比较规则的工作空间,并且采用单一变量法研究各个参数对工作空间的影响,该研究为用于农业除草及分拣任务的农业并联机器人机构的优化研究奠定了基础.The new six-DOF 3-PRRS parallel mechanism was used in the fields of agriculture ro- bot, and it can be widely used in agricultural land,weeding and sorting. First, the kinematics in- verse solution was studied by using the closed-loop vector method, and the analytic form of in-verse kinematics was gained. Then three-dimensional polar search method was used to study a giv- en gesture boundaries and three-dimensional map. Then workspace which was big, non-empty and inerratic was gained. And the single variable method was used to study variables influence of various parameters on workspace, which helped us to find their workspace variation,and select the appropriate structural parameters. This study would to lay the foundation for the further optimization of agriculture oarallel mechanism

关 键 词：并联机构 运动学 工作空间 六自由度 

分 类 号：TH112[机械工程—机械设计及理论]