新型三平移一转动并联机构及运动学分析

Kinematics Analysis of a New Three-Translational and One-Rotational Parallel Manipulator

根据并联机器人机构结构综合理论,以单开链支路为单元,提出了一种能实现空间三维移动和一维转动的四自由度并联机构。分析了该机构的运动特性,运用连杆D—H矩阵,探讨了具有5R支链的建模方法,给出了机构位置反解的数学模型,并在ADAMS虚拟样机软件及MATLAB数学计算软件上进行了数值验证。这种机构具有4个自由度运动特性,在结构上具有较好的对称性,且支链结构可进行模块化组装,有较好的应用前景。为机构建立的反解模型较简单,数值验算证明是正确的。机构的运动学反解模型为该机构作进一步的运动学动力学及优化设计研究打下基础,并为系统控制提供了理论依据。

Based on the units of single--opened--chain limb, a new--type 4--DOF parallel mech- anism for realizing three--dimensional translations and a rotation was put forward according to theories of the structure type synthesis of parallel kinematics mechanism. Its kinetic properties were ana- lyzed. The modeling methods for 5R--kinematics limb were researched by use of link＇s D-H matrix, and the positional inverse resolution equations of this mechanism were presented. The inverse resolutions were verified on Adams or virtual prototype software and Matlab. Because there are four degrees of freedom and semi--symmetrical properties in the mechanism, and its branch can be modularization, there may be better application prospects. Its positional inverse resolution model is relatively simple, and the numerical tests prove its correctness, which is satisfactory foundation that its kinematics and dynamics and optimal design can be further studied, and provides a theoretical base for the system control of this mechanism.