新型三平移一转动混合型机器人研究

Study on a Mix-type Manipulator with three Traslational and one Rotational Freedom

提出一类基于并联平台的新型机器人机构。该机器人以三平移并联机器人为主体,在固定平台与动平台之间增加一附加支链RTPTR。与普通的并联机构相比,该机器人以附加支链的旋转轴作为机器人的输出,具有三平移一转动4个自由度。该机器人充分利用三平移并联机构的优点,结构简单,特别是转动自由度独立灵活,便于实时控制。分析了该机器人的结构及运动学特点,并以3—RPC+RTPTR机型为例研究了其位置,最后分析了该机器人的应用前景。

The structure of a novel manipulator based on the parallel mechanism is established.The main body of the manipulator is the parallel mechanism with three traslational degrees of freedom.There is an auxiliary chain-RTPTR between fix platform and moving platform of the manipulator.The output structure is rotating axis of auxiliary chain,which is different from normal parallel mechanisms.There are four freedoms,which are three traslational and one rotational freedom.The structure of the manipulator is simple.Particularly,the rotational freedom is flexible and independent.It is easy to control.The structure and kinematics characteristics are analyzed.Taking the 3—RPC＋RTPTR as an example,the displacements are studied.At last,the uses of the manipulator are presented.