六棱锥式并联机器人结构设计与性能分析

Structure design and performance analysis of six-pyramid parallel robot

针对越野路况模拟中路况转角较大的问题,设计了一种六棱锥式并联机器人。分析了该机器人的结构、自由度和工作原理,采用几何法和拉格朗日法分别建立了运动学和动力学模型。通过算例获得了机器人的工作空间以及电机位置和驱动力与负载平台运动轨迹的映射关系。制作了样机并测试其平动和转动性能。实验结果表明,样机转动角最大为55°,能够满足大转角路况模拟的要求;实际性能与仿真结果吻合,验证了该文设计的可行性与仿真的正确性。

A six-pyramid parallel robot for the large angle in the cross-country road simulation is designed.Its structure,degree of freedom and working principle are analyzed.The kinematics model and the dynamics model are respectively established by the geometric and the Lagrange method.Examples present the workspace of the robot and the relationship between the motor position and the driving force with the load platform motion.A prototype is fabricated and its translational and rotational performance are tested.The experimental results show that the max angle of the prototype is 55° and the prototype can meet the requirements of the large angle condition simulation.The actual performance is coinciding with simulation results,verifying that the design is feasible and the simulation is correct.