3-PUU并联机构工作空间分析与优化  

Workspace Analysis and Optimization of 3-PUU Parallel Manipulator

作　　者：赵元[1] 毕长飞[2] 

机构地区：[1]沈阳工学院信息与控制学院,辽宁抚顺113122 [2]辽宁地质工程职业学院机电系,辽宁丹东118008

出　　处：《机床与液压》2016年第3期14-18,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金重点项目(60534020);教育部新世纪优秀人才支持项目(NCET-04-415);教育部科技创新工程重大项目培育资金项目(706024)

摘　　要：提出了一种新型3-PUU并联机器人,对该机器人进行运动学分析,得到了3-PUU并联机器人的运动学反解,在此基础上,分析了移动副和虎克铰对工作空间的限制。采用三维极限搜索法求解了工作空间,并对该并联机器人的工作空间进行了优化分析。结果表明:优化后的工作空间明显增大,该种机器人具有较好的实际应用前景。A novel 3-PUU parallel robot was addressed. Kinematics analysis of the robot was established,and the inverse solutions of the kinematics of the 3-PUU parallel robot were obtained. Based on the previous works,the constraints conditions on the mobile side and Hooke in the workspace were analyzed. The three-dimensional( 3-D) limit search method to solve the workspace was adapted. The workspace of the parallel robot was analyzed and optimized. The results show that the workspace is obviously increased after optimization,and the parallel manipulator robot has a good application prospect.

关 键 词：并联机构 运动学 极限搜索法 工作空间 优化分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]