3-PSS柔性并联微操作机器人运动学及工作空间分析  

Kinematics and Workspace Analysis of 3-PSS Flexible Parallel Micromanipulator

作　　者：任军[1,2] 何文浩 REN Jun;HE Wen-hao(School of Mechanical Engineering,Hubei University of Technology,Hubei Wuhan 430068,China;Hubei Key Laboratory of Modem Manufacturing Quality Engineering,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]现代制造质量工程湖北省重点实验室,湖北武汉430068

出　　处：《机械设计与制造》2022年第12期58-63,共6页Machinery Design & Manufacture

基　　金：湖北省教育厅科研计划重点项目(D20211401);湖北省自然科学基金(2017CFB128)。

摘　　要：将3-PSS型delta并联机构中的球铰用柔性铰链替代,设计了3-PSS柔性并联微操作机器人。首先通过坐标变换法建立机器人的位置方程,并根据位置方程推导机器人正、逆运动学模型,然后通过数值算例验证了理论模型的正确性,最后通过MATLAB软件对机器人模型进行运动学仿真得出机器人的工作空间,同时讨论了在不同导轨长度、杆长以及柔性铰链极限转角等结构参数下机器人工作空间的变化情况,分析结果对基于特定约束条件下的3-PSS柔性并联微操作机器人结构设计具有一定的参考价值。A3-PSS flexible parallel micro manipulator is designed by replacing the ball hinges with flexure hinges in the 3-PSS delta parallel mechanism. Firstly,the position equation of the robot is established by the coordinate transformation method,and the forward and inverse kinematics models of the robot are deduced according to the position equation. Then the numerical model is used to verify the correctness of the theoretical model. Finally,the working spaces of the robot are obtained by kinematics simulation through MATLAB software. The changes of working spaces of the robot under different structural parameters such as the length of the guide rail,the length of the rod,and the limit angle of the flexible hinge are also discussed. The analysis results have certain reference value for the structural design of a 3-PSS flexible parallel micromanipulator based on specific constraints.

关 键 词：3-PSS 柔性并联机器人 柔性球铰 工作空间 

分 类 号：TH16[机械工程—机械制造及自动化] TH12