新型空间移动并联机器人机构运动学分析与仿真  

Kinematic analysis and simulation of a new spatial translational parallel robotic mechanism

作　　者：张彦斌[1] 荆献领 赵浥夫 陈子豪 ZHANG Yan-bin;JING Xian-ling;ZHAO Yi-fu;CHEN Zi-hao(School of Electromechanical Engineering,Henan University of Science and Technology,Luoyang 471003)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《机械设计》2018年第8期74-79,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50905055);河南省高等学校重点科研项目基础研究计划资助项目(18A460001);河南科技大学重大科技项目培育基金资助项目(2015XTD012)

摘　　要：提出一种新型非过约束空间移动并联机器人机构,该机构由3条结构完全相同的CPU分支运动链构成。基于螺旋理论对其动平台运动输出特性和自由度进行分析和计算;建立了机构运动学模型,包括位置、速度和加速度;分析了被动关节变量与机构主动输入变量之间的映射关系,推导出被动关节变量与输入之间的数学表达式。应用Solid Works和Adams软件对机构进行联合仿真,得到其位移、速度和加速度仿真曲线,以及被动关节变量的曲线。文中研究为该机构的实体样机开发提供了一定的理论基础。In this paper, a new spatial translational parallel robotic mechanism without excess constraint is proposed,which is composed of three identical CPU-branch chains. Based on the screw theory, an analysis is conducted on the motion output characteristics and the mobility of the moving platform. The kinematics model of the mechanism is established, including position, velocity and acceleration. An analysis is conducted on the relationship between the passive joints＇ variables and the actuated input variables, and the corresponding mathematical expressions are derived. The kinematics simulation of the mechanism is carried out by means of the Solid Works and Adams softwares. The simulation curve of the displacement, velocity and acceleration, as well as the kinematical curve of the passive joints are obtained. This study serves as the theoretical basis for RD of the mechanism prototype.

关 键 词：并联机器人机构 运动学分析 仿真 自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]