3-P-2SS球平台机器人的运动传递性分析

Kinematic transmission property of a novel 3-P-2SS spherical platform manipulator

研究了一种新型的3自由度3-P-2SS球平台机器人的运动传递性及其在工作空间的分布规律。该机器人在坐标原点具有最佳的运动传递性能,介绍其正交的结构布局特点,基于其位置反解推导运动学传递方程,定义其沿x、y和z方向的运动传递能力评价指标,给出这些评价指标在工作空间内的分布情况,这对该种球平台机器人的合理任务规划很有帮助。

The kinematic transmission property and distributions in work space of a novel 3-DOF 3-P-2SS spherical platform manipulator whose optimum kinematic transmission property is at the origin position were given. The orthogonal layout feature of the parallel manipulator is described and its kinematic transmission equations are developed based on its inverse displacement equations. The kinematic transmission indices of a 3-DOF 3-P-2SS spherical platform in direction of x.y and z are defined,respectively, so that the distributions of the indices in work space are given, which is significant for task planning of the manipulator.