一种新型两自由度高速并联机械手的尺度综合

Dimensional Synthesis of a Novel 2-DOF High-Speed Parallel Manipulator

对含被动支链的两自由度平动并联机构的概念设计进行了研究,归纳了被动支链的几种可能构型.运用螺旋理论对被动支链进行自由度分析,进而提出了一种新型高速并联机械手机构,该机械手包含两条主动支链和两条被动支链,其中被动支链用来对动平台的姿态进行约束,并提高机械手的刚度.在进行运动学分析的基础上,以机械手雅克比矩阵条件数在工作空间上的平均值和最大值的加权值为性能指标,对该并联机械手机构进行了尺度综合.研究表明,该两自由度平动并联机械手可与一单自由度进给机构组合,构成一个三自由度平动混联机械手,适用于工业领域的高速拾放操作.

The conceptual design of the 2-DOF （ Degree of Freedom） translational parallel mechanism with passive limbs is investigated, and some potential structures of the passive limb are generalized. Then, the DOF of the passive limb is analyzed based on the screw theory, and a novel high-speed parallel manipulator containing two active limbs and two passive limbs is presented. The two passive limbs are used to restrict the rotation of the movable plat- form and to improve the stiffness of the parallel manipulator. Moreover, a dimensional synthesis of the parallel ma- nipulator is carried out based on the kinematic analysis, with the weight values of the mean and maximum condition numbers of Jacobian matrix in the operation space as the performance measures. The results show that the presented manipulator can be combined with a 1-DOF feed mechanism to create a 3-DOF translational hybrid manipulator for the pick-and-place operation in industrial fields.