染色体切割设备的并联宏动平台运动学传递性能

Kinematics transmission property of parallel macro manipulator of cutting equipment for chromosome

介绍了用于染色体切割设备可实现微米级高精度定位的新型6-(P-2P-S)并联宏动平台,该平台具有在初始正交位姿部分运动解耦和装配工艺性好等特点。为提高该平台的实际应用理论基础,对其运动的传递性及其在姿态空间的分布规律进行了研究。基于其结构布局特点分析了该并联宏动平台的位置问题,求得机构位置正反解。推导了运动学传递方程,根据雅可比矩阵定义了速度传递性能的评价指标。最后,考虑其结构约束条件,分析了线速度和角速度传递性能评价指标(Kv,Kω)在姿态空间内的分布规律。仿真结果表明,越是靠近姿态空间的边界,Kv和Kω的值越大,其最大值随着初始姿态角增大而增大,Kvmax的变化为0.9709～1.1791,Kωmax的变化为8.5865～10.9783。根据设计需要选择合适的运动学传递性能指标,可满足该并联宏动平台在不同精密操作领域的应用需求。

A novel 6-（P-2P-S） parallel macro manipulator used as the macro system of the cutting equipment for chromosome is put forward, which is characterized by some movement decouplings on the orthogonal posture and its good manufacturability. In order to explore the theoretical foundation of the manipulator, the kinematics performance and the attitude distribution properties in the orientation workspace are investigated. Based on the design feature, the position problem is analyzed to obtain the inversion of forward displacement. Then, the kinematics equation is derived, and the speed transmission evaluation indicators （Kv, Kw） are defined based on the Jacobian matrix. Finally, in consideration of the structure constraints, the distribution of the Kv and Kw in the orientation workspace is analyzed. Simulation results indicate that the K and K are close to the edges of orientation workspace,and they can be changed in the ranges of 0. 970 9-1. 179 1, and 8. 586 5-10. 978 3,respectively. By choosing appropriate Kv and Kw in the orientation work space, it can satisfy the different requirements of the parallel macro manipulator applied in other precision operating fields.