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RRR—UPRR—RPUR球面轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析
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國家自然科學(xué)基金資助項(xiàng)目（50975046）;上海市高校培養(yǎng)優(yōu)秀青年教師科研專項(xiàng)基金資助項(xiàng)目（gjd09036）;上海倉儲物流設(shè)備工程技術(shù)研究中心項(xiàng)目（10dz2250800）


Kinematics Analysis of RRR—UPRR—RPUR Spherical Parallel Manipulator
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    摘要:

    構(gòu)造了RRR—UPRR—RPUR球面轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)，該機(jī)構(gòu)具有3個(gè)連續(xù)的轉(zhuǎn)動(dòng)自由度,，其中2個(gè)轉(zhuǎn)動(dòng)自由度完全獨(dú)立并由單個(gè)驅(qū)動(dòng)器驅(qū)動(dòng),，實(shí)現(xiàn)了三自由度球面轉(zhuǎn)動(dòng)的運(yùn)動(dòng)解耦。首先,，根據(jù)螺旋理論建立運(yùn)動(dòng)支鏈中運(yùn)動(dòng)副在一般位形下的運(yùn)動(dòng)螺旋形式,，實(shí)現(xiàn)對球面轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)自由度的連續(xù)性判斷。其次,，利用線性代數(shù)方法,，推導(dǎo)出并聯(lián)機(jī)構(gòu)動(dòng)平臺及相鄰桿件的運(yùn)動(dòng)學(xué)模型，建立了球面轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正解的解析算法,。最終,，利用軟件實(shí)體造型的運(yùn)動(dòng)仿真功能驗(yàn)證了理論計(jì)算結(jié)果。

    Abstract:

    An RRR—UPRR—RPUR parallel manipulator which can achieve spherical motion around fixed point was presented. The manipulator has three rotational degree-of-freedom (DOF), of which two rotational DOFs are independent and could be actuated by single actuator. The screw formulations of kinematic joints under ordinary configuration were established, which was employed to determine the three continues rotational DOF of the manipulator. Then, the kinematics of moving-platform and adjacent part were deduced, and the analytical algorithm of direct kinematics of the mechanism was established. Finally, the theoretical results are verified by the motion simulation of the prototype mechanism.

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張帆,張丹,楊建國. RRR—UPRR—RPUR球面轉(zhuǎn)動(dòng)并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(9):202-206,224. Zhang Fan, Zhang Dan, Yang Jianguo. Kinematics Analysis of RRR—UPRR—RPUR Spherical Parallel Manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(9):202-206,224.

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