具有冗余驱动特征的3-RRRS机构的正运动学分析  

Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic

作　　者：张豫徽[1] 杨许[2] 王良文[3] 宋康康[3] 

机构地区：[1]黄河水利职业技术学院,河南开封475004 [2]黄河科技学院职业技术学院,河南郑州450000 [3]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械传动》2016年第7期42-46,共5页Journal of Mechanical Transmission

基　　金：河南省高校科技创新团队支持计划(2012IRTSTHN013);河南省重点科技攻关项目(152102210145)

摘　　要：在动静平台之间采用3-RRRS机构连接,能够实现动平台相对于静平台的6维位姿变化。将S副释放,该机构构型可以用于爬行类仿生机器人的通用结构。该类机构构型由于具有冗余驱动的特征,能够改良动平台的运动性能与工作空间,本文对其正运动学问题进行研究。首先根据结构关系,建立包含冗余驱动变量的运动方程。然后通过Bezout方程及变量代换等,求解冗余驱动变量。最后,给出了动平台方向矩阵及运动轨迹的计算模型,并以算例进行了说明。本文的研究为同类问题的求解提供了参考。The 3- RRRS mechanism is adopted to connect motion platform with static platform,which can achieve the 6 dimensions change of pose for static platform relative to moving platform. Releasing S vice,the mechanism configuration can be used for the general structure of reptiles bionic robot. Because the mechanism configuration has redundant drive characteristics,it can improve motion performance and work space of motion platform. The forward kinematics problem is studied. Firstly,according to the structure relationship,the motion equations including redundant drive variables are established. Secondly,the redundancy drive variables are solved by Bezout equation and variable substitution. Finally,a calculation model of the motion trajectory and direction matrix for motion platform are obtained. An analysis example is described. A reference for solving the similar problem is provided.

关 键 词：3-RRRS机构 冗余驱动 正运动学 仿生机器人 

分 类 号：TH112[机械工程—机械设计及理论]