3UPS-1S并联机构的运动学分析

Kinematics analysis of the 3UPS-1S parallel mechanism

以3UPS-1S机构为研究对象,使用Grubler-Kutzbach自由度公式计算了机构的自由度,通过机器人学及机构学理论确定动、静平台坐标系、旋转矩阵,并根据机构几何关系推导出机构位姿逆解、正解方程,再由位姿方程求导得到雅克比矩阵,从而得到速度逆解、正解方程。分析结果表明:结构调整的3UPS-1S机构满足空间三维转动,且在动平台承受重载时,操作平稳;运动学分析得出机构的位姿正、逆解,速度正、逆解,对此类机构的理论研究很有意义。

The Grubler-Kutzbach formula was used to calculate the freedom degree of the 3UPS-1S parallel mechanism,the moable platform,and the fixed platform coordinate system and the rotation matrix were fixed according to the robotics and mechanism theory.The forward equation and the inverse equation of pose were deduced based on the geometric relation,then the Jacobin matrix could be obtained accordingly and the forward equation and the inverse equation of velocity would be calculated.The results show that the new designed 3UPS-1S parallel mechanism can move three-dimensionally,and moves smoothly even when the moable platform supports heavy load.The forward equation and inverse equation of the parallel mechanism pose and velocity are useful to the parallel robot research.