基于几何法Delta并联机器人运动学分析  

Kinematics Analysis of Delta Parallel Robot Based on Geometric Solution

作　　者：薛明瑞[1] 高奇峰[1] 胡红钱[1] 冯军[1] 

机构地区：[1]浙江工业职业技术学院机械工程分院,浙江绍兴321000

出　　处：《机械设计与制造》2017年第3期258-260,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金(51175476);浙江省教育厅科研项目(Y201635953)

摘　　要：为避免解析法求解与数值法求解所具有的缺点,根据平行四边形结构的运动特性,简化了Delta并联机器人结构模型,并建立了3个惯性坐标系,将3个不同位置支链转换至相同状态下进行分析,采用几何法构造出机构位置正解与逆解的低阶方程组。根据刚性杆两端点运动速度在沿杆件方向分速度相同原理,构造了机构驱动输入与末端执行器输出的速度映射矩阵(速度雅克比矩阵)。运用Matlab软件进行编程,并通过实例验证了本机构位置正逆解算法的正确性。To avoid the shortcomings of analytical and numerical method, according to the motion characteristics of parallelogram structure, simplify structure model of Delta parallel robot, establish 3 inertial coordinate systems, convert three branchesat different positions into the same state,and construct the forward and inverse kinematics low order equations of mechanism with the geometric method. According to the principle that the kinematic velocity along the direction of two end points of a rigid rod is equal, structure velocity mapping matrix （Jacobian matrix）-of mechanism actuating input and endeffector output. Using Matlab software programming, the correctness of the algorithm is verified by an example.

关 键 词：Delta并联机器人 几何法 运动学 雅克比矩阵 

分 类 号：TH16[机械工程—机械制造及自动化] TH112