一种新型弱耦合三平移并联机器人机构及其运动学分析

发布时间：2018-03-01 05:11

本文关键词： 弱耦合并联机械三平移运动学分析　出处：《中国机械工程》2017年13期 　论文类型：期刊论文

【摘要】：提出一种弱耦合2RRP_aR+PP_aP三平移操作机器人机构,分析了机构的自由度及拓扑结构特征;推导了机构的正逆解方程以及速度、加速度模型,根据速度雅可比矩阵,分析了机构的奇异位置;根据机构的逆解方程和主要约束,采用三维极坐标边界搜索法绘制了机构的工作空间三维实体图和截面图;由ADAMS三维模型仿真和运动正解方程计算所得的位移、速度、加速度曲线基本一致,验证了运动方程的正确性。该机构解耦性好、结构简单、运动灵活,在纵向移动方向上具有部分解耦和工作空间大的优点,适合用作生产线自动操作手机构。
[Abstract]:This paper presents a weakly coupled 2RRP AR PP_aP three-translation robot mechanism, analyzes the degree of freedom and topological structure of the mechanism, deduces the forward and inverse equations of the mechanism and the model of velocity and acceleration, according to the Jacobian matrix of velocity, According to the inverse solution equation and the main constraints of the mechanism, three-dimensional polar coordinate boundary search method is used to draw the three-dimensional entity map and section diagram of the mechanism. The displacement, velocity and acceleration curves calculated by the ADAMS 3D model simulation and the forward kinematic equation are basically consistent, which verifies the correctness of the motion equation. The mechanism has the advantages of good decoupling, simple structure and flexible motion. Due to its advantages of partial decoupling and large workspace, it is suitable for automatic operation of mobile phone in production line.
【作者单位】：常州大学机械工程学院;
【基金】：国家自然科学基金资助项目(51075045) 江苏省自然科学基金资助项目(BK20161192) 江苏省产学研前瞻项目(BY2015027-24)
【分类号】：TH112;TP242

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