三自由度并联机器人机构运动极限位置的精确解法  

Analyses of limit positions of driving links of three DOF planar parallel mechanism

作　　者：许瑛[1] 渡辺克巳 宍户慎介 

机构地区：[1]南昌航空工业学院,南昌330034 [2]日本山形大学工学部

出　　处：《机械设计与制造》2003年第6期19-20,共2页Machinery Design & Manufacture

基　　金：南昌航空工业学院科研基金项目(EC20023069)

摘　　要：三自由度平面八杆机构,将其中两个原动件固定时,就成为Stephenson形平面六杆机构。该机构的输入输出角位移关系可用六次方程式来表示。因此,可用第1原动件的运动极限位移来取代六次方程式的重根,提出的这一方法同样适用于第2、第3原动件,此方法为三自由度平面八杆机构传动性能的评价指标提供了新的依据。When two driving links are fixed, a three DOF planar eight-link parallel mechanism becomes a Stephenson six-link mechanism, the relationship between whose input and output angles is expressed in a form positions that the sixth order equation for the displacement analysis have an equall roots. In this paper, limit position domains of the three DOF planar parallel mechanism are constructed by tracing equal roots of sixth order eqations for second and third input angles. Forthermore, an index of motion transmissibility of the parallel mechanism is investigated by using a geometical measurement of the configuration of moving links from that at the limit position of the driving link.

关 键 词：三自由度 并联机器人 平面八杆机构 极限位置 精确解法 传动性能 平面六杆机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]