一种新型五自由度并联机构运动学分析与仿真

Kinematics and Simulation of a New Five-DOF Parallel Mechanism

提出了一种基于改进Delta和2-R的平动、转动独立的复合机构.利用齐次坐标变换,推导了机构的位姿反解.求解过程不需复杂的数学推导,只涉及简单的齐次坐标变换规则和矩阵运算,容易编程实现.应用空间解析几何和向量代数方法,推导了机构位姿正解.回避了一般并联机构的代数方程组的数值求解和多解取舍问题.应用虚拟样机软件ADAMS仿真了机构的运动情况,验证了位姿正反解求解的正确性.该机构工作空间大、定位精度高、微动性能好、制造和控制成本低,适合作为取放机器手、检测机器人、激光切割机床等的主体机构,在工业领域具有很好的应用前景.

Based on the improved Delta/2-R mechanism, a new mechanism integrating independent translation with rotation is presented. An inverse solution is derived to all the poses of the mechanism by way of simple transformation of homogeneous coordinate and matrix operation without complicated mathematic derivation, thus enabling its programming to be easier. The 3-D analytical geometry and vector algebra are introduced into the normal kinematic solution so as to avoid the numerical solution to algebraic equation sets and option of multiple solutions for conventional parallel mechanism. With the virtual prototype software ADAMS, the movement of the mechanism was simulated to verify the correctness of both the normal and inverse kinematic solutions to the mechanism proposed. Owing to its big work space, high location accuracy, favorable micro-motion performance and low cost of manufacture/control, the new parallel mechanism is regarded as applicable to ＂pick-place＂ manipulator, inspection robot and laser cutting machine tool. So, it has good prospects in industrial applications.