五自由度并联包装机器人运动学及工作空间分析  

Kinematic and workspace analysis of a five-degree-of-freedom parallel packaging robot

作　　者：李碧良 陈志峰 LI Biliang;CHEN Zhifeng

机构地区：[1]广东科杰技术股份有限公司,广东江门529000 [2]中南大学,湖南长沙410083

出　　处：《现代机械》2024年第6期22-26,共5页Modern Machinery

摘　　要：伴随科技技术水平的提高,机器人广泛应用于生产制造中,提高了生产效率,降低了劳动者工作强度。与串行机器人相比,并联机器人机构具有刚度好、精度高和承载能力强等优点,但工作空间具有局限性。以5-SPS-UPU并联机器人为研究对象,系统地推导了五自由度并联机器人运动学、工作空间和灵巧性。首先利用坐标变换理论、微分法推导了运动学方程及雅可比矩阵的逆解。其次通过软件的边界搜索法对该机器人的工作空间进行研究,对机器人的姿态和位置工作空间的变化进行数值分析。然后结合案例研究了机器人的灵巧性。由案例分析结果可知,该机器人最佳运动灵巧度为1.1,具有较大的有效工作空间和灵活度,可广泛应用于包装机器人领域。With the development of science and technology,packaging robots are widely used in the packaging of large and heavy goods,which improves the packaging efficiency and reduces the working intensity of workers.Compared with serial robot,parallel robot mechanism has the advantages of good stiffness,high precision and strong bearing capacity,but its workspace has limitations.Taking the 5-SPS-UPU parallel robot as the research object,the kinematics,workspace and dexterity of the 5-DOF parallel robot are systematically derived.Firstly,the inverse solutions of the kinematic equations and Jacobian matrix are derived by using coordinate transformation theory and differential method.Secondly,the workspace of the robot is studied by the boundary search method of the software,and the changes of the pose and position of the robot are numerically analyzed.Then the dexterity of the robot is studied with a case.The analysis results show that the optimal motion dexterity of the robot is 1.1,which has large effective workspace and flexibility,and can be widely used in the field of packaging robot.

关 键 词：并联机器人 运动学分析 工作空间 灵巧度 矩阵逆解 

分 类 号：TB659[一般工业技术—制冷工程]