基于大工作空间的三自由度并联机器人的机构研究

A Novel 3-DOF Parallel Manipulator Based on Larger Workspace

针对并联机器人工作空间相对较小的问题,采用菱形机构代替传统的串联支链,即运用虚拟轴代替实轴,减少并联机器人工作空间受杆长约束的范围,进而扩大机器人的工作空间,并且在z轴上具有较大的伸缩比。运用这个原理设计了一个大缩放比的三自由度并联机器人,并对该机器人进行了自由度、基本运动学和工作空间的分析。从分析结果可以看出,该机器人具有较大的工作空间。

For solving the problem of small workspace of the parallel manipulator,the traditional limbs were replaced by the rhombus mechanism,i.e.the virtual axes were used to be in place of the real axes.Those can reduce the range of limb constraint,and expand the workspace of the parallel manipulator.Then we designed a parallel manipulator with 3 DOF（degree of freedom） via this principle,and analyzed the DOF,kinematics and workspace.The results show this manipulator has larger workspace.