摘要
根据并联机器人机构综合理论,设计了一种能实现重载情况下空间转动的三自由度并联微调机构,由运动平台、固定平台、驱动支链及从动支链组成,具有平衡稳定、承载能力强、位置精度高的特点。通过对该机构的运动学研究,求出其运动学位置逆解、正解及速度解。借助Matlab软件进行了运动学仿真分析,并提供了该并联机构在盾构管片拼装机上的应用实例,证明该并联机构可实现重载情况下空间微调精确定位。
According to the theories of the structure synthesis of parallel robot mechanisms, a new 3-DOF parallel manipulator with 3-rotation was synthesized and investigated. The manipulator consists of a moving platform, a fixed base, four kinematic chains of UPS and a restricted support chain. One of the four UPS legs is passive whereas each of the remaining three legs is driven by a linear actuator. To gain better understanding of the mechanisms, a methodology for analyzing the kinematics of such manipulator was presented subsequently. Finally, a case of a tunnel erecter mechanical arm was used as an example to illustrate the methodology.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第9期144-148,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(项目编号:50575155)
关键词
并联机构
三自由度
运动学分析
机构设计
管片拼装机
Parallel manipulator, 3-DOF, Kinematic analysis, Mechanism design, Tunnel erecter