摘要
以一种组成五自由度混联机器人Exechon的三自由度并联机构模块2-UPR&SPR为研究对象,利用解析法对其位置正/逆解进行分析。针对位置正解,得到了只含一个未知量的24阶多项式方程,给出了该机构位置正解的所有可能解的解析表达式,对于位置逆解,得到了其显式表达。算例表明,由正解方程得到的8个实数解对应4组镜像位形,逆解方程存在2个实数解,对应2种位形,从而得到该机构位置正/逆解的全部解析解。
This paper dealt with the inverse and forward position analyses of a 3-DOF parallel mechanism module,which formed the main body of a 5-DOF hybrid robot named Exechon.In the forward position analysis,a twenty-four order polynomial equation was derived,leading to 4 sets of mirror poses associated with 8 real solutions of the polynomial.In the inverse position analysis,an explicit equation was formulated to determine 2 poses associated with 2 solutions.Consequently,the entire set of solutions for the forward and inverse position analyses of the mechanism were found.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第23期2785-2789,共5页
China Mechanical Engineering
基金
国家高技术研究发展计划(863计划)资助项目(2009AA04Z219
2007AA04Z203)
关键词
混联机器人
并联机构
位置正解
位置逆解
hybrid robot
parallel manipulator
forward position analysis
inverse position analysis
