三自由度平面并联微动机器人运动学模型及工作空间分析

Kinematics Model and Working Space of a 3-RRR Plane Parallel Micro-motion Manipulators

运动学分析是并联机器人机构分析中的首要问题,是进行机构动力学分析、精度分析的基础,而全柔性微动机器人机构的首要目标就是精确实现所需的运动。介绍了平面并联微动机器人伪刚性模型的建立方法,并采用闭环矢量原理建立理论运动学线性模型,得到理论Jacobian矩阵,其次对该机构进行实验分析,得到工作平台的实验输出位移和方位角(Jacobian矩阵);然后用ANSYS软件对其进行有限元分析,得到有限元运动学模型(Jacobian矩阵值),最后通过MATLAB7.1软件对该机构的三种运动学模型进行工作空间分析,并进行误差分析,得到输出平台适用的运动学方程。

The first problem of the parallel robot organization is kinematics analysis. The first target for a parallel micro - moving flexure joint robot is the accurate kinematics analysis. A method of deriving a linear and effective kinematic model based on the loop closure theory is built. This method is illustrated with a parallel micro - moving flexure joint robot. Next the experiment device is established, and the experiment positions and orientation of the end - effector is got through converting and calculating. Then the finite element analysis with ANSYS software to it is carried on, and the finite element kinematics model（Jacobian matrix value） is obtained. Finally, the end - effector working space is analyzed by MATLAB7.1 software. The error analysis is carried on.