二元驱动串并联机器人结构参数约束条件分析  

Design Constraints Analysis of Structure Parameters of Binary Actuators Serial-Parallel Robot

作　　者：杜幸运 赵慧[1] 徐鹏成 DU Xing-yun;ZHAO Hui;XU Peng-cheng(College of Machinery and Automation,Wuhan University of Science and Technology,Hubei Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械设计与制造》2018年第9期105-107,111,共4页Machinery Design & Manufacture

摘　　要：以平面变几何桁架机构为二元驱动串并联机器人基本模块,将基本模块串联起来构成二元驱动串并联机器人离散系统,推导其正运动学方程,分析了其末端执行器的位置空间和姿态变化范围。根据上、下平台之间相对姿态转角为实数的约束条件,采用MATLAB语言编写并计算正运动学方程,以确定驱动腿变化量与结构参数之间的关系。该方法避免了因结构参数选取不当而无法求得姿态角的问题。该结论为二元驱动串并联机器人的结构设计与优化提供了理论基础。Considering planar variable geometry truss(VGT)mechanismas basic module,a planar binary driving series-parallel robot has been built.The forward kinematics equations of each module was deducted,and the workspace and posture range of its end-effector was obtained.The relationship between the stroke of actuators and the structure parameters was acquired by solving the forward kinematics equations in MATLAB,which is based on the constrain condition that the relative posture angle between upper platform and lower platform must be real number.This method,which is proposed in it,can avoid the insolubility of posture angle because of improper structure parameters,andprovide the design idea of the same kind robots.

关 键 词：二元驱动 串并联机器人 平面变几何桁架机构 正运动学 

分 类 号：TH16[机械工程—机械制造及自动化] TH24