摘要
为实现多向3D打印,设计了一种新型五自由度3D打印并联机器人,该机器人具有两个转动自由度和三个平动自由度,其特点是采用铰接的动平台以获得大的工作空间。根据建立的运动学模型,计算了该机器人机构的运动学反解,分析了定姿态位置工作空间和定位置姿态工作空间,用螺旋理论方法建立了速度雅可比矩阵,在此基础上分析了五自由度3D打印并联机器人的奇异性、灵巧性,并进行了运动仿真分析。研究结果表明,所设计的五自由度3D打印并联机器人具有大的位置工作空间和姿态工作空间,该机器人在工作空间内存在奇异位置,通过添加冗余驱动后可以消除奇异位置,并且具有良好的灵巧性,适合多向3D打印。
The design of a novel parallel mechanism for multi-directional 3D printing with five DOF including three translational DOF and two rotational DOF was presented.Its characteristic was that the machine adopted a articulated moving platform to achieve larger workspace.According to the established kinematics model,the inverse kinematics was calculated,the position workspace and the orientation workspace were analyzed,and the velocity Jacobian matrix was established based on screw theory.Kinematic performances,such as singularity and dexterity were analyzed based on the computed Jacobian,the motion simulation was also analyzed.The results show that the 3D printing parallel robot has larger position workspace and the orientation workspace.Although singular location existed,it might be eliminated by means of actuation redundancy and the results prove that the mechanism has better dexterity and is suitable for multi-directional 3D printing.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第17期2273-2279,共7页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51175029)
北京市自然科学基金资助项目(3132019)
关键词
多向3D打印
并联机构
大工作空间
奇异性
冗余驱动
multi-directional 3D printing
parallel mechanism
larger workspace
singularity
actuation redundancy
