摘要
提出了一种能实现空间三维平动和绕Z轴转动的4-PTT并联机构;应用螺旋理论对该机构的结构及约束特征进行了分析,并计算了机构的自由度;运用解析几何中的坐标变换和投影理论,求得了该机构位置反解的显式表达式;利用MATLAB以及ADAMS软件中的点驱动技术对该机构的运动输出和位置反解进行了仿真验证.该机构为一过约束机构,具有各分支完全相同、结构对称、刚度大等优点,可应用于工业装配机器人、微动机器人、多维减振平台、康复机器人等领域.
A original 4-PTT parallel mechanism that can perform three-dimensional translations and rotation about Z axis was proposed. The structure and constraints of the mecha- nism were analyzed based on screw theory, and the degrees of freedom of mechanism was calculated. Its positional inverse modals were set up by using the transformation of coordinates and projection in analytic geometry, and the inverse position was simulated and verified by MATLA and Point Motion in ADAMS. The mechanism has advantages of simple symmetric structure, large stiffness and wide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and etc.
出处
《山东理工大学学报（自然科学版）》
CAS
2008年第1期23-27,共5页
Journal of Shandong University of Technology:Natural Science Edition
基金
山东省自然科学基金资助项目(Y2006F59Y2006G17)
山东省教育厅资助项目(J05C14)
山东理工大学科研基金资助项目(2004KJM05)
关键词
并联机构
位置反解
反解仿真
中医推拿机器人
parallel mechanism
kinematics
inverse resolution
simulation
chinese medicalmassage manipulator
