基于影响系数的新型全柔性微动并联机器人运动特性分析

Kinematical Analysis on a Novel 3-DOF Translational Fully Compliant Parallel Micro-robot Based on Influence Coefficients

研究了新型全柔性微动三平移并联机器人机构{R//R//R//P(4R)}//{R//R//P(4R)//R}⊥{R//R//R//P(4R)}的运动学特性,并进行了模拟仿真验证。首先求解机构的位置正解方程,并对该并联机构的运动学解耦特性进行分析,发现该三平移机构为近似完全解耦的机构;然后利用基于影响系数的方法,比较容易地推导出了该机构的速度、加速度的准确表达式,避免了繁琐的正解方程的求导微分;最后利用ADAMS软件、MATLAB软件对机构的运动学特性进行了仿真模拟与理论计算,验证了理论推导的正确性。

The kinematics characteristics of a new-type 3- DOF translational fully compliant parallel micro robot {R//R//R//P（4R）}//（R//R//P（4R）//R}⊥{R//R//R//P（4R）} was studied. The calculation results were simulated finally. The equations of the versed null of the parallel mechanism are firstly obtained. The kinematical coupled-characteristics of the parallel mechanism were analyzed. The results show that the mechanism has the almost fully de-coupled characteristics. The veracious equations of the velocity and acceleration were figured out based on the influence coefficient method. It kept the way of the complicated differential coefficients of the versed null. The kinematics of the mechanism was simulated by the ADAMS software and MATLAB software. The results show that the calculation kinematical equations of the mechanism are correct.