摘要
提出和研究了一种新型6-PUS/UPU并联机器人,该机器人结构对称,刚度大,可用于视觉测量、力控制研究、冗余控制研究。首先利用螺旋理论对6-PUS/UPU并联机器人进行了自由度分析,然后根据该机构的几何特点和D-H法对该并联机器人进行了运动学分析,得出了6-PUS/UPU并联机器人的运动学反解,并在此基础上对该并联机器人的工作空间进行了分析。该研究结果对此种机器人的深入研究及该并联机器人的实际应用具有重要理论意义。
In this paper,a new kind 6-PUS/UPU parallel manipulator is put forward,which is symmetrical in structure and strong in rigidity,therefore it can be used for vision measurement,force control research,and redundant control study.First,the degree of freedom about the 6-PUS/UPU parallel manipulator is analyzed by using the screw theory.Then,according to the geometrical characteristics of institutions and D-H method,the kinematics of the parallel manipulator is analyzed,concluding inverse kinematics of 6-PUS/UPU parallel manipulator.And based on which,the working space of the parallel manipulator is analyzed.The research results in this paper have significance for intensive study of this kind of manipulator and its actual application.
出处
《机械设计》
CSCD
北大核心
2011年第3期36-40,共5页
Journal of Machine Design
基金
河北省自然科学基金资助项目(E2009000387)
关键词
并联机器人
螺旋理论
自由度
运动学
工作空间
parallel manipulator
screw theory
degrees of freedom
kinematics
workspace
