一种串并混联机械手的运动学分析  

Forward Position Analysis of a Series-Parallel Structured Manipulator

作　　者：赵普 何阳 汪序凯 吉起旺 王润芝 赵裕明 冯海兵 李守军[1] ZHAO Pu;HE Yang;WANG Xukai;JI Qiwang;WANG Runzhi;ZHAO Yuming;FENG Haibing;LI Shoujun(School of Mechanical and Electrical Engineering,Suqian University,Suqian 223800,China)

机构地区：[1]宿迁学院机电工程学院,江苏宿迁223800

出　　处：《农机使用与维修》2023年第11期32-34,38,共4页Agricultural Machinery Using & Maintenance

基　　金：宿迁市科技计划项目(Z2022097)。

摘　　要：一种7-DOF串并混联工业机械手由大臂、中臂、小臂和末端执行器依次串联而成,其中大臂为两自由度并联机构,中臂为单自由度平动机构,小臂为四自由度串并混联机构。该文介绍了该串并混联机械手的构型,对机构进行了运动学分析,求解了机械手的位置正反解。该结构的机械手具有工作空间大、末端灵活性好等特点,在现代工业及农业生产中有很好的应用前景。A 7-DOF series-parallel structured industrial manipulator was composed of big arm,middle arm,small arm and end-effector in series.The big arm was a 2-DOF parallel mechanism,and the middle arm was a 1-DOF translation mechanism,and the small arm was a 4-DOF series-parallel mechanism.In this paper,the configuration of the series-parallel manipulator was introduced.The kinematics of the mechanism was analyzed,and the forward and backward solutions of the manipulator were solved.The manipulator of this structure had the characteristics of large working space and good flexibility at the end.It had a good application prospect in modern industry and agricultural production.

关 键 词：机械手 串并混联机构 位置正解 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]