中间变量为移动位移的三自由度平面并联机器人运动学

Kinematics of 3-DOF Planar Parallel Manipulators with Variables of Prismatic Intermediate Joints

按照输入参数与输出参数之间的中间变量的不同,将三自由度平面并联机器人分为中间变量为转动位移和移动位移两大类型。针对中间变量为移动位移的类型,介绍了其运动学正反解的统一模型。其正解模型为一元二次方程,最多有两个解,反解模型大多数情况有唯一解,极少部分最多有两个解。

Based on the nature of the variables of intermediate joints between the actuating joint displacements and the output position and orientation parameters of the stage, all of the 3-DOF planar parallel manipulators can be divided into two categories in this paper. Moreover, work focused on kinematics of the 3-DOF planar parallel manipulators with prismatic intermediate joints and their general forward as well as inverse kinematic models have be provided. Their direct kinematic models lead to a second order polynomial and a maximum of two solutions, and their inverse kinematic models to a single solution mostly, or in rare cases to two solutions at most.