基于旋量分析的4-PaUS/PPPU并联机构设计与性能仿真  

Design and Performance Simulation of 4-PaUS/PPPU Parallel Mechanism Based on Screw Analysis

作　　者：王同特 黄海滨 傅亭硕 程华康 WANG Tong-te;HUANG Hai-bin;FU Ting-shuo;CHENG Hua-kang(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen 316000,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,厦门316000

出　　处：《青岛大学学报（自然科学版）》2023年第4期46-53,共8页Journal of Qingdao University(Natural Science Edition)

基　　金：福建省自然科学基金(批准号:2022J011244)资助。

摘　　要：由于并联机器人的多环结构能有效解决串联机器人在高精度加工领域精度低,刚性差,响应慢等问题,因此通过旋量法设计了一种新型4-PaUS/PPPU的2R3T并联构型,利用旋量理论分析了该机构的自由度,给出了机构的逆运动学逆解解析式。由运动/力传递性能分析结果可知,在工作空间内并联机构ITI值在0.7以上,运动/力传递性能良好。As the parallel robot multi-ring structure can effectively solve the series robot in the field of high precision processing low accuracy,poor rigidity,slow response,a novel 4-PaUS/PPPU 2R3T parallel configuration was designed by screw method.The degree of freedom of the mechanism was analyzed by using the spiral theory,and the inverse kinematics inverse solution analytical formula of the mechanism was given.The motion/force transmission performance was simulated,and the ITI value of the parallel mechanism in the working space was above 0.7,which had good motion/force transmission performance.

关 键 词：并联机器人 旋量理论 运动学 运动/力传递性能 

分 类 号：TH112[机械工程—机械设计及理论]