基于3D打印并联机器人机构的工作空间分析  

Workspace Analysis of Mechanism of a 3D Printing Parallel Robotic Manipulator

作　　者：郭晓波[1] 翟雁[1] 吴丽娜[2] GUO Xiaobo1 ZHAI Yan1 WU Lina2(1. School of Mechanical Engineering, Anyang Institute of Technology, Anyang Henan 455000, China; 2. Anyang Iron and Steel Group Co., Ltd., Anyang Henan 455000, Chin)

机构地区：[1]安阳工学院机械工程学院,河南安阳455000 [2]安阳钢铁集团有限公司,河南安阳455000

出　　处：《机床与液压》2018年第5期6-8,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(U1204613)

摘　　要：以一种新型三自由度并联机构3-HSS为研究对象,对该机构进行运动学逆解分析,推导出该并联机构的运动学逆解方程,并求解了并联机构的雅可比矩阵,采用Gosselin几何法编程对该并联机器人的工作空间和边界进行研究,得到比较规则的工作空间,且该构型并联机构的工作空间连续,无空洞,并呈现一定的对称性。该研究能够满足当前3D打印技术的设计需求,并为并联机构进一步优化研究提供了理论依据。A novel three degree of freedom （3-DoF） 3-HSS parallel manipulator is taken as the research object. The Inverse ki-nematics analysis of the mechanism of parallel manipulator and its inverse solutions were obtained. The Jaeohian mati＇ix was deducedwith the previous works. The workspace and boundary of the parallel manipulator were researched by adopting the Gosselin geometricprogramming method, that a relatively regular workspace was obtained, and the workspace of the parallel manipulator were kept contin-uous, without holes and shown certain symmetry. The research results can meet the design requirements of the current three dimensional（3D） printing technology, and lay a theoretical foundation for further optimization research of the parallel manipulator.

关 键 词：并联机构 运动学 雅可比矩阵 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]