Stewart衍生型并联机器人的工作空间分析  

Workspace Analysis of Stewart Derivative Parallel Robot

作　　者：叶鹏达 尤晶晶[1,2] 仇鑫 徐帅 王林康 茹煜 YE Pengda;YOU Jingjing;QIU Xin;XU Shuai;WANG Linkang;RU Yu(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing 210016,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《机械设计与研究》2020年第4期47-51,61,共6页Machine Design And Research

基　　金：国家留学基金资助项目(201908320035);国家自然科学基金资助项目(51405237);“十三五”国家重点研发计划资助项目(2018YFD0600202);江苏省农业科技自主创新基金资助项目(CX(18)1007)。

摘　　要：以一种新型Stewart衍生型并联机器人为研究对象,对其位置反解及工作空间进行了分析。首先,结合矢量法与旋转矩阵推导得出并联机器人位置反解的全解析表达式,并在Mathematica中构建了并联机器人虚拟样机,通过算例仿真验证了位置反解数学模型的正确性;然后,基于带杆长约束条件的全解析式位置反解,运用有限离散法,获得并联机器人在三种不同姿态下的位置工作空间和z=0 mm工作空间点云的姿态工作空间;进一步的,研究了结构参数对零姿态位置工作空间的影响趋势,总结得出适当减小并联机器人的动平台边长和增大初始杆长,能够增大位置工作空间。研究内容为Stewart衍生型并联机器人后续的奇异位形研究打下基础。The inverse displacement analysis and workspace of a novel Stewart derivative parallel robot was studied. Firstly, the full analytic expression of the inverse displacement analysis was derived by combining vector method and rotation matrix. A virtual prototype of parallel robot was constructed in Mathematica, and the correctness of the mathematical model of inverse displacement analysis was verified by simulation. Then, the translational workspace and orientational workspace was obtained in terms of constrained inverse displacement solution and finite discrete method. Furthermore, the influence of structural parameters on zero-orientation translational workspace was studied. It is concluded that the translational workspace can be enlarged by reducing the edge length of the moving platform and increasing the initial rod length of the parallel robot appropriately. The research contents lay a foundation for the study of singularity of the parallel robot subsequently.

关 键 词：并联机器人 位置反解 工作空间 有限离散法 结构参数 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]