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完全各向同性2T1R空間并聯(lián)機(jī)器人機(jī)構(gòu)型綜合
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國家自然科學(xué)基金資助項(xiàng)目(50905055);河南省教育廳自然科學(xué)基金資助項(xiàng)目(2010A460006);河南省高校青年骨干教師資助項(xiàng)目(2010GGJS—079);河南科技大學(xué)博士科研啟動基金資助項(xiàng)目


Structural Synthesis of Fully-isotropic 2T1R Spatial Parallel Robotic Manipulators
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    摘要:

    提出了完全各向同性二移動一轉(zhuǎn)動(2T1R)空間并聯(lián)機(jī)器人機(jī)構(gòu)型綜合的系統(tǒng)方法,。首先根據(jù)機(jī)構(gòu)各分支預(yù)期功能的要求,，基于互易螺旋理論確定出各分支的驅(qū)動螺旋,、主動螺旋和可動非主動螺旋,；再按照分支連接度的不同列舉出機(jī)構(gòu)的各分支運(yùn)動鏈,；最后根據(jù)機(jī)構(gòu)各分支裝配要求將動平臺和靜平臺連接起來即可得到預(yù)期的機(jī)構(gòu),，并得到大量新型機(jī)構(gòu)。實(shí)例分析驗(yàn)證了型綜合方法的正確性,。由于所綜合出的并聯(lián)機(jī)器人機(jī)構(gòu)的運(yùn)動雅可比矩陣均為單位陣,，因此這類機(jī)構(gòu)具有良好的運(yùn)動學(xué)和力傳遞性能。

    Abstract:

    A systemic methodology for structural synthesis of fully-isotropic two-translational and one-rotational (2T1R) spatial parallel robotic manipulators was proposed. According to the prescribed characteristics of each mechanism limb, the actuation screws, actuated screws and mobile unactuated screws of every limb were confirmed at first based on the reciprocal screw theory. Then the structural synthesis of each kinematic chain for fully-isotropic 2T1R spatial parallel robotic manipulators was performed in the light of different connectivity of the limbs. Finally, the anticipant manipulators were synthesized by connecting the moving platforms to the fixed bases and a lot of new mechanisms were attained. Kinematical analysis about one of manipulators designed here showed that the method is reasonable and correct. The kinematic Jacobian of the mechanism is an identical matrix, so it performed very well with regard to motion and force transmissions.

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張彥斌,吳鑫,劉宏昭.完全各向同性2T1R空間并聯(lián)機(jī)器人機(jī)構(gòu)型綜合[J].農(nóng)業(yè)機(jī)械學(xué)報,2011,42(11):200-207. Zhang Yanbin, Wu Xin, Liu Hongzhao. Structural Synthesis of Fully-isotropic 2T1R Spatial Parallel Robotic Manipulators[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(11):200-207.

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