Stewart衍生型并联机器人的运动雅可比矩阵推导  

Derivation of Motion Jacobian Matrix of Stewart Derivative Parallel Robot

作　　者：仇鑫 尤晶晶[1,2] 王林康 徐帅 叶鹏达 QIU Xin;YOU Jingjing;WANG Linkang;XU Shuai;YE Pengda(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,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]南京航空航天大学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6期79-84,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51405237);国家留学基金资助项目(201908320035);江苏省精密与微细制造技术重点实验室开放基金资助项目。

摘　　要：设计了一种新型Stewart衍生型并联机器人的结构模型,对其运动学正解及运动雅可比矩阵进行了推导。首先,对并联机器人的关键零部件进行设计;接着,在惯性系内推导出并联机器人运动学正解的全解析表达式;在此基础上,分别采用位移求导法、静力分析法和速度递推法推导出该机器人的运动雅可比矩阵,并提炼出3种方法的适用条件;最后,通过虚拟试验验证了运动雅可比矩阵的正确性,并对比了三种方法的计算效率,结果表明,速度递推法的效率最优。这为并联机器人后续的奇异位形和动力学研究提供了理论依据。The structural model of a new Stewart derivative parallel robot is designed,and its forward kinematics solution and motion Jacobian matrix are derived.Firstly,the key components of the parallel robot are designed.Then,the full analytic expression of the forward kinematics solution of parallel robot is derived in the inertial system.On this basis,the motion Jacobian matrix of the robot is derived by displacement derivation method,static analysis method and velocity recursive method respectively,and the applicable conditions of the three methods are extracted.Finally,the correctness of the motion Jacobian matrix is verified by virtual experiments,and the computational efficiency of the three methods is compared.The results show that the efficiency of the speed recursive method is optimal.This provides a theoretical basis for the subsequent singular configuration and dynamics of parallel robots.

关 键 词：并联机器人 结构模型 运动学正解 雅可比矩阵 速度递推法 

分 类 号：TH112[机械工程—机械设计及理论]