摘要
针对二转动一平动(2R1T)三自由度并联机器人,基于螺旋理论,提出了可能的支链方案。分析了支链只存在单约束线矢力的情形,利用互易螺旋,得到支链运动副组合及其相应的设计原则。由于空间线矢力对转动与平动自由度都有影响,讨论了此类并联机器人自由度与约束线矢力空间分布之间的关系。综合支链运动副设计原则与机构设计所需线矢力空间分布,可得到符合实际应用的具有2R1T运动特征的并联机器人。通过对3-RPS三自由度并联机构的分析,具体说明了空间线矢力与并联机构自由度之间的相互影响。同时,此种机构综合方法也适用于其它少自由度并联机构构型的综合与优化设计。
A new method to analyze the structure of parallel robot is presented with reciprocal screw theory.Several limb types are analyzed for the 3-DOF(2R1T)parallel robot.When there is only one pure wrench force in one limb,the design rules and the combinations of revolute and prismatic joints are obtained.Through the discussion of relations between spatial wrench force and DOF of parallel robot,the necessary spatial contribution of wrench forces is investigated.Then the parallel structures with 2R1T DOFs that can be realized in potential industrial applications can be get.By the analysis of 3-RPS parallel manipulator,the mutual effect between wrench forces and DOF is explained.Meanwhile,the method can be used for structure synthesis and optimization design of other kinds of low-DOF parallel robots.
出处
《机械传动》
CSCD
北大核心
2008年第1期1-4,共4页
Journal of Mechanical Transmission
基金
国家863高技术基金资助项目(批准号:2006AA04Z208)
关键词
并联机器人
螺旋理论
空间线矢力
构型综合
Parallel robot Screw theory Spatial wrench force Structure synthesis
