摘要
提出了一种能实现空间三维移动和绕Z轴转动的机构模型———空间4-UPU并联机器人机构模型。采用螺旋理论分析了4-UPU并联机器人机构实现空间三移一转运动的机构学原理,计算了其自由度,讨论了输入的合理性;给出了其位置反解的方法,导出了位置正解的封闭方程,进行了数值验证,并分析了该机构的工作空间和奇异位形。该机构是一种过约束机构,具有结构对称且相对简单、刚度大等优点,可用于开发新型工作台、并联机床、四维力传感器以及微操作机器人等。
A novel 4-UPU parallel manipulator mechanism that can perform three-dimensional translations and rotation about Z axis was presented. The principles that the mechanism can perform the above motions were analyzed based on screw theory, the mobility of mechanism was calculated, and the rationality of chosen input joints was discussed. The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples were given, the workspace and the singularity of the parallel mechanism were discussed. The mechanism having the advantages of simple symmetric structure and large stiffness can be applied to the developments of NC parallel platforms, parallel machine tools, four-dimensional force sensors and micro-positional parallel manipulators.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第22期2034-2038,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375134)
河北省博士基金资助项目(B2003221)
关键词
并联机构
运动学
奇异位形
工作空间
parallel manipulator
kinematics
singularity configuration
workspace
