一种四自由度并联机构的运动学及工作空间分析  

Kinematics and Workspace Analysis of a four-DOF Parallel Mechanism

作　　者：胡凯文 张龙[1] HU Kaiwen;ZHANG Long(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造》2025年第4期66-71,共6页Machinery Design & Manufacture

摘　　要：为了研究少自由度并联机构在雷达承载平台上的应用,提出了一种可实现船舶雷达关于减振和姿态调整相关要求的四自由度并联机构,运用MATALB及ADAMS工具针对其逆向运动学进行了分析求解及仿真,并将两组结果进行对比并分析了误差产生的原因。基于运动逆解模型及相关结构约束条件运用MATALB求解其工作空间并进行了分析,通过观察指定铰点的三维可达散点图像发现了其工作空间存在的规律性。为后续动力学分析及控制策略研究奠定了基础,对同类型并联机器人的深入研究及实际应用具有重要理论意义。In order to study the application of less-DOF parallel mechanism on radar bearing platform,a four degree of freedom parallel mechanism that can realize the requirements related to vibration damping and attitude adjustment of ship radar is pro⁃posed,and the two sets of inverse kinematic solutions are gained by using MATALB and ADAMS and then compared.The rea⁃sons for the errors between them were analyzed.The workspace is solved and analyzed using MATALB based on the inverse solu⁃tion model and the associated structural constraints,and it’s regularity was found by observing the 3D reachable scatter images of the specified hinge point.It lays the foundation for dynamics analysis and control strategy research,and has important theoret⁃ical significance for in-depth research and practical application of the same type of parallel robots.

关 键 词：并联机器人 运动学 工作空间 性能评价 

分 类 号：TH16[机械工程—机械制造及自动化] TH122