基于单开链和方位特征集的5-DOF串并联构型综合  

Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set

作　　者：张邦成[1] 王亚阁 姚禹[2] 彭其飞 Zhang Bangcheng;Wang Yage;Yao Yu;Peng Qifei(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012,China;School of Applied Technology,Changchun University of Technology,Changchun 130012,China;China FAW Group Corporation,Changchun 130013,China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]长春工业大学应用技术学院,吉林长春130012 [3]中国第一汽车集团有限公司,吉林长春130013

出　　处：《机械传动》2021年第9期40-46,55,共8页Journal of Mechanical Transmission

基　　金：吉林省科技厅中青年科技创新领军人才及团队项目(20200301038RQ);2018年吉林省科技厅(20180201058GX);2018年吉林省发改委吉林省省级产业创新专项资金项目(2018C037-1);2018年长春市双十项目(18SS011)。

摘　　要：根据单开链和方位特征集设计了一种5自由度串并联机器人,并对5自由度串并联机器人并联机器人的运动学,对并联机构的位置逆解和动平台速度进行分析。运用Adams软件对设计的5自由度串并联机器人进行仿真分析,并验证机构的可行性。结果表明,该机构具有运动比较平稳、工作空间大等特点,对5自由度串并联机构多驱动器控制提供了参考依据。A 5-DOF series-parallel robot is designed based on the single-opened-chain and position and orientation characteristic set,and the configuration synthesis and degrees of freedom of the 5-DOF series-parallel robot are calculated and analyzed to verify that the proposed mechanism meets the design requirements.The kinematics of the 5-DOF series-parallel robot is further discussed,and the position inverse solution of the parallel mechanism and the speed of the moving platform are analyzed.The Adams software is used to simulate the designed 5-DOF series-parallel robot to verify the feasibility of the mechanism.The results show that the proposed mechanism has the characteristics of relatively stable motion and large working space,which provides a reference basis for the multi-drive control of the 5-DOF series-parallel mechanism.

关 键 词：5自由度 串并联机构 单开链 方位特征集 运动学 

分 类 号：TH112[机械工程—机械设计及理论]