6-SPS台体型并联机器人工作空间及转动能力研究

A study on the working space and turning round ability of 6-SPS platform typed parallel robot

提出一种评价并联机器人实现位置和姿态能力的性能指标。选用局部坐标系和球面副的关节转角描述了动平台的位姿,探索了工作空间的边界,以动平台在工作空间内能实现的最小可达章动角评价并联机器人的转动能力,揭示出并联机器人工作空间体积及转动能力随机构结构尺寸的变化而变化的规律。

A kind of evaluating the performance index on the realization position and gesture ability of parallel robot was put forward. The posture of moving platform was described by selecting the partial coordinate system and the joint turning angle of spherical pair. The boundary of working space was explored. The turning round ability of parallel robot was evaluated by the use of the minimum reachable turning round angle that could be realized within the working space of moving platform. The variation law of volume of working space and the turning round ability of parallel robot varies along with the variation of structural dimensions of mechanism was revealed.