3-RRR平面并联机器人位姿的方向可操作性

Orientation maneuverability on the positional posture of 3-RRR planar parallel robot

基于速度雅克比矩阵,定义3-RRR平面并联机器人机构速度和力的方向可操作度,以此作为评价指标,度量机器人在给定位形条件下速度和力的传递性能。结果表明,3-RRR平面并联机器人机构在操作空间内同一位置,有8种位形满足要求,且不同位形的传速和传力性能不同。对任一确定位形,传速性能强(弱)的方向上表现出传力性能弱(强)。

Based on the velocity Jacobian matrix, the orientation maneuverabilities of the velocity and force of 3-RRR planar parallel robot mechanism were defined, and taking this as an evaluation target to measure the transmission capability of velocity and force of robot under given positional posture condition. The result indicated that within the same operational spatial position of the 3-RRR planar parallel robot there were 8 kinds of positional postures that could satisfy the demands with different transmission capacities of velocity and force. For any of the ascertained positional posture, the capacity of force transmission is weak （strong） in the direction of strong （weak） capacity of velocity transmission.