3-DOF平面并联机器人的类型分析与运动学

Classification and Kinematics of 3-DOF Planar Parallel Manipulators

根据3-DOF平面并联机器人过渡关节为转动关节或移动关节,推知其过渡(关节)变量为转动变量或移动变量,将其分为两种类型,即过渡变量为转动变量的第一类和过渡变量为移动变量的第二类平面并联机器人。并导出了各类型具有的标准运动学模型及其解的结构。类型一的运动学正解为一元六次方程,最多有六组解;类型二的为一元二次方程,最多有两组解。反解运动学模型为一元二次方程或有惟一解。

3-DOF planar parallel manipulators were classified into category 1 and category 2, according to the nature of the variables of intermediate joints in each limb, revolute joint or prismatic joint. The general kinematic models of each category were presented, in addition to their solutions in structure. The forward kinematics of category 1 leads to a sixth order polynomial with six sets of position and orientation solutions at most, and to a second order polynomial for category 2. Their inverse kinematics leads to a second order polynomial or to a single solution.