RGRR-Ι构造混联6R机器人

Hybrid Serial-parallel 6R Robot Made of RGRR-Ι

新型并联双自由度转动关节(RGRR-Ⅰ)活动构件少、工作空间大,利用RGRR-Ⅰ构造混联6R机器人可以实现高刚度、大工作空间、机构紧凑等。提出混联机构的求解新方法,即建立少自由度并联机构的运动坐标参数与机构运动输入参数之间的关系,把混联机构的求解转化为各少自由度并联机构的求解和运动坐标参数之间的串联求解,降低了求解难度,可以方便地推导出位置的正解和反解。此方法对其他混联机器人的运动学分析有借鉴作用。

Since a new 2-DOF rotation parallel mechanism （RGRR- I ） has the advantages of less moving parts and large workspace, hybrid serial-parallel 6R robot is invented by using three RGRR- I mechanisms in order to realize high stiffness as well as large workspace and compact structure. Replacing position analysis of hybrid serial-parallel mechanisms with position analysis of each less-freedom parallel machine and serial analysis of moving coordinate parameters by establishing the relation between moving coordinate parameters of less-freedom parallel machines and input parameters of machines, a new method of hybrid serial-parallel mechanisms position analysis is proposed in order to reduce the difficulty of position analysis and get result easily. It is very useful for kinematics analysis of other hybrid serial -parallel mechanisms.