三分支非均匀分布球面并联机器人的工作空间分析

Workspace analysis of the three branches unequal spaced distribution spherical parallel manipulator

通过分析球面三转动副并联机构中三个分支的布局对工作空间大小及分布的影响,把一般球面并联机构的三个分支由均匀分部改为非均匀分布,提出了一种三分支非均匀分布球面并联机器人,介绍了其结构布局特点,建立了结构约束条件,绘制出了工作空间的α截面边界图,定量分析了机构参数和工作空间大小及分布形状的关系,设计了一种三分支非均匀分布球面并联机器人样机。

The distribution of the 3-RRR spherical parallel manipulator＇s workspace is analyzed when the three branches are in different distribution.The three branches equal spaced distribution of the tradition spherical parallel manipulator is changed to unequal spaced distribution. A three branches unequal spaced distribution spherical parallel manipulator is given.Its characteristic of the structural layout is introduced,the inverse kinematics equations and the architecture constraints are established. The shape of the workspace outlines of section α is described. All of these are very useful for the logical design of the parallel manipulator.