一种无耦合移动并联机器人机构的结构设计与运动学分析  

Structural Design and Kinematics Analysis of a Uncoupled Translational Parallel Robotic Mechanism

作　　者：毛玺[1,2] 张彦斌 赵浥夫[1] Mao Xi;Zhang Yanbin;Zhao Yifu(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China;Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]机械装备先进制造河南省协同创新中心,河南洛阳471003

出　　处：《机械传动》2019年第8期92-97,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50905055);河南省科技攻关计划项目(192102210221);河南省高等学校重点科研项目基础研究计划项目(18A460001);河南科技大学重大科技项目培育基金(2015XTD012)

摘　　要：提出一种3自由度无耦合空间移动并联机器人机构,该机构由动平台、静平台以及连接两平台的3条具有相同结构的分支运动链组成。基于螺旋理论分析机构的运动输出特性,推导出机构位置、速度以及加速度的解析表达式;由于其雅可比矩阵为3×3阶对角阵,表明该机构的输入运动和输出运动呈一一对应的关系。利用Matlab和SolidWorks软件绘制出虚拟样机的位移、速度、加速度仿真曲线,验证了理论分析的正确性。最后,对机构的奇异性和工作空间进行了分析。An uncoupled spatial translational parallel robotic mechanism with three degrees of freedom (DOF) is presented, which is composed of a moving platform connected to a fixed platform by three identical kinematic chains. Based on the screw theory, the kinematic output characteristic of the mechanism is analyzed. The analytical expressions of position, velocity and acceleration are derived. The form of Jacobian matrix is 3×3 diagonal, so it reveals that the inputs of the actuated joints and outputs of the moving platform satisfy one-toone corresponding relationship, respectively. Then, the kinematic simulation of this parallel mechanism is carried out by Matlab and SolidWorks software, and the position, velocity and acceleration curves are described as well. The simulation results show that the theoretical analysis is correct. Finally, singularity and its workspace are discussed respectively.

关 键 词：并联机器人机构 无耦合 运动学分析 奇异位形 工作空间 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]