摘要
设计一种基于反螺旋理论的系统方法,给出了具有三个转动自由度的并联机器人的设计要求。分析了产生平台奇异时三条支链所提供的反螺旋的线性关系,利用三条支链对平台所提供的特殊约束,避免设计位形下发生平台奇异现象。给出了设计该类结构的运动副组成类型和空间放置原则。
This paper presented a systematic structural synthesis methodology based on the theory of reciprocal screws,which was under given the design requirements for parallel manipulator with 3 rotational DOFs. Furthermore,the linear relationship of 3 links was analyzed when the platform singularities in design configuration will happen. Using this new method, through special constraints provided by the 3 links,a synthesis method is proposed,which can completely avoid platform singularities in the design configuration. Finally, 2 novel manipulators are sketched as design examples.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第1期8-11,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375001)
关键词
并联机器人
反螺旋理论
设计位形
平台奇异
转动
parallel manipulator
theory of reciprocal screw
platform singularity
design configuration
rotation
