摘要
提出一种基于反螺旋理论的设计,给出了用于调节姿态的具有3个转动自由度的并联机器人的设计方法。分析了产生平台奇异时3条支链的反螺旋的线性关系。结合这一分析,利用3条支链对平台所提供的特殊约束,彻底避免平台奇异现象。得出设计这一类结构的运动副组成类型和空间放置原则。最后,用这一方法设计几个新的机构作为范例。
Base on a structural synthesis method of the theory of reciprocal screw, the design method of parallel manipulator of 3 rotational DOFs for pose adjusting of radar and other equipment was proposed. Furthermore, the linear relationship of 3 limbs when platform singularities happened was analyzed. With the specific constraints provided by 3 limbs, a construction synthesis method that can completely avoid platform singularities is introduced. Finally, 3 novel manipulators are sketched as design examples.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2005年第5期656-660,共5页
Acta Armamentarii
基金
国家自然科学基金项目(50375001)
关键词
自动控制技术
并联机器人
反螺旋理论
平台奇异
转动
automatic control technique
parallel manipulator
theory of reciprocal screw
platform singularity
rotational motion
