四自由度混联机器人运动学分析与仿真

Kinematics Analysis and Dynamic Simulation of a Novel Mixed-connection Manipulator

根据串联机构和并联机构的特点,以两平移一转动并联机构为主体,设计了一种四自由度混联机器人,该机器人动平台自由度为三平移和一转动,同时,在并联机构动平台和虚拟固定平台间增加一辅助支链,该辅助支链具有独立的转动自由度。与具有同样运动特性的并联机构相比,该机器人的工作空间大,转动灵活。分析了该机器人的运动学特征,求出其位置正反解析解,利用运动影响系数对其速度和加速度进行了系统研究,并进行了动态仿真验证。

According to the characteristics of series and parallel mechanism, a novel mixed--connection manipulator was designed. Its moving platform had three translational and one rotational degree of freedom. There was a subsidiary chain between the virtual fixing platform and the moving platform, which had an independent rotational degree of freedom. Compared with the parallel mechanism of the same kinematic characteristics, the workspace of the manipulator was large and its rotational degree of freedom was flexible. The manipulator was investigated and the closed- formed solutions of both the inverse and direct kinematics were developed. The velocities and accelerations were studied by using the method of kinematic influencing coefficients. The dynamic simulation was conducted, which verified the correctness of the theoretical inference.