基于三分支非均匀分布球面并联机构腰关节的运动学传递性能分析

The Kinematics Analysis of a Waist Joint based on Three Branches Unequal Spaced Distribution Spherical Parallel Manipulator

把基于三分支非均匀分布球面并联机构应用于新型拟人腰关节,可以很大程度改善现有拟人腰关节的性能。为满足该拟人腰关节的性能要求,对其结构进行了运动学传递性能计算与分析,选取了一组合理的设计几何参数,从而使其基本能满足腰关节对工作空间的要求。通过分析腰关节的运动学传递性能,定义了角度传递性能评价指标,并研究了评价指标如何提高全域角速度传递性能。

A new waist joint based on three branches unequal spaced distribution spherical parallel manipulator is introduced.The curve angle of the waist joint is very large.Reasonable design parameters are chosen.The kinematics transmission capacity evaluation indexes of the Three Branches Unequal Spaced Distribution Spherical Parallel Manipulator are defined,and the distribution of the kinematics transmission capacity evaluation index is given.