一种新型6-DOF串并混联拟人机械臂及其位置分析

A Novel 6-DOF Hybrid Anthropopathic Mechanical Arm and Its Position Analysis

提出了一种新型6-DOF串并混联拟人机械臂,这种机械臂主要包括肩、上臂和前臂三部分,其中,肩采用球面三自由度并联机构为机构原型,上臂采用五杆二自由度并联机构为机构原型,前臂采用四杆机构为机构原型,结合这种机械臂的结构布局特点,求得其位置正解的封闭解,使用Bezout消元法求得这种拟人机械臂的位置反解的封闭解。

A novel 6-DOF hybrid anthropopathic mechanical arm, comprised of shoulder, upper arm and forearm, was investigated, and the spherical 3-DOF parallel manipulator was adopted as the hybrid mechanical arms＇ shoulder, and 2-DOF parallel manipulator, five-bar linkage mechanism was adopted as the hybrid mechanical arms＇ upper arm, and four--bar linkage mechanism was adopted as the hybrid mechanical arms＇ forearm. Then 6--DOF hybrid anthropopathic mechanical arm＇s direct and inverse displacement equations were developed in detail explicitly considering its architee ture feature.