一种新型低耦合度非全对称三平移一转动并联机械手及其运动学分析

发布时间：2017-12-28 05:02

本文关键词：一种新型低耦合度非全对称三平移一转动并联机械手及其运动学分析　出处：《中国机械工程》2017年19期 　论文类型：期刊论文

【摘要】：根据基于方位特征(POC)方程的并联机构拓扑设计理论和方法,分析了一种可实现三平移一转动输出运动的新型低耦合度的非全对称四自由度并联机械手2-RPaRSS,并完成其运动学建模与分析。首先,分析计算出该机构的耦合度(κ=1),给出了基于序单开链(SOC)的机构位置正解的建模方法及其数值解;其次,通过导出机构位置反解及算例,验证了正反解求解的正确性;再次,分析了该机构位置工作空间的形状大小及工作空间Z向各截面形状;然后,对机构的奇异位形进行了分析,得到其发生三类奇异的条件;最后,设计了该机械手样机的三维CAD模型。研究结果表明,2-RPaRSS机械手比H4、I4R、Cross-Ⅳ结构简单,且具有更大的工作空间和更好的动平台转动能力。
[Abstract]:According to the topology design theory and method of parallel mechanism based on the POC equation, a new low coupling three degree of freedom four degree of freedom parallel manipulator 2-RPaRSS is analyzed, and its kinematics modeling and analysis is carried out. First of all, analyze and calculate the coupling degree of the mechanism (K =1), is presented based on the ordered SOCS (SOC) modeling method of positive solutions of mechanism position and its numerical solution; secondly, by deriving the inverse kinematics and example, verify the correctness of the positive and negative solution; thirdly, analysis of the size and shape the working space is Z space position of the work of the organization to the section shape; then, the singularity of the mechanism was analyzed, the three class of singular conditions; finally, the design of the 3D CAD model of the manipulator prototype. The results show that the 2-RPaRSS manipulator has a simpler structure than H4, I4R and Cross- IV, and has a larger working space and a better turning ability of the moving platform.
【作者单位】：常州大学现代机构学研究中心;
【基金】：国家自然科学基金资助项目(51375062,514755050) 江苏省重点研发计划资助项目(BE2015043)
【分类号】：TH112
【正文快照】： 0引言四自由度的三平移一转动(3T1R)并联机构的拓扑结构运动学和动力学分析比三自由度的Delta机构[1-2]要复杂得多,但有着广泛的应用前景。在3T1R机构的型综合方面,研究人员已提出一类可实现三平移动一转动的四自由度并联机器人,如H4[3]、I4L[4]、I4R[5]、Par4[6]、Heli4[7]。

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