一种Tripod并联机器人运动学与工作空间分析  

Analysis of the Kinematics and Workspace of a Tripod Parallel Robot

作　　者：孙帅 宋公飞[1] 黄贤存 Sun Shuai;Song Gongfei;Huang Xiancun(School of Information and Control,Nanjing University of Information Science and Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学信息与控制学院,江苏南京210044

出　　处：《机械传动》2018年第9期125-129,共5页Journal of Mechanical Transmission

基　　金：江苏省科技项目(BK20150927)

摘　　要：通过对Tripod并联机器人的结构进行分析,建立单支链分析模型,利用几何分析法对机器人的运动学进行反解分析,获得运动学反解表达式。在反解分析基础上求解运动学正解解析式,并利用牛顿迭代法的数值方法计算出运动学位置正解,结合具体实例利用MATLAB软件编程来验证运动学分析的可行性。为了进一步研究机器人的工作性能,根据运动学反解对机器人的工作空间进行分析,并根据机器人雅可比矩阵探讨了机构存在的3种奇异位形,最后结合机构尺寸参数利用MATLAB软件编程绘制其工作空间图。By analyzing the structure of Tripod parallel robot,a single branch chain analysis model is established.The kinematics analysis of robot is carried out by means of geometric analysis,and the expression of inverse kinematics is obtained.On the basis of the inverse solution analysis,the forward kinematics analysis formula is solved,and by using the numerical method of Newton iteration,the forward kinematics position is calculated.Combined with specific examples,the feasibility of kinematics analysis is verified by using MATLAB software programming.In order to further study the performance of the robot,according to the inverse kinematics of the robot,the workspace of the robot is analyzed.According to the Jacobi matrix of the robot,three kinds of singular configurations of the mechanism are discussed.Finally,the workspace map is drawn by MATLAB software program with the size parameters of the mechanism.

关 键 词：Tripod并联机器人 运动学分析 工作空间 奇异位形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]