平面三自由度并联机器人理论工作空间与机构尺寸关系研究

Study on the Relationship between Theoretical Workspace and Link Size of Planar 3-DOF Parallel Manipulator

以一种平面三自由度并联机器人机构为研究对象,对其机构尺寸进行量纲一划,给出反映机构尺寸参数变化范围的设计空间,求得其封闭运动学反解。利用运动学反解存在条件和设计空间,计算该机器人机构理论工作空间并绘制理论工作空间性能图谱,建立了机构理论工作空间与机构运动学尺寸之间的一一对应关系。总结该机器人理论工作空间性能指标在设计空间内的分布规律,给出了理论工作空间较大的机构尺寸范围。这些图谱是该机器人机构优化设计的重要参考依据。

A kind of planar 3--DOF parallel manipulator is taken as the study object and treated as non--dimensional structure. The design space which can reflect the scope in which the geometric pa- rameters change is presented and the closed--form solutions to invers konematics of the manipulator are solved. The theoretical workspace is calculated and the performance atlases of the theoretical work- space are plotted by utilizing the conditions of the existence of inverse kinematics solutions and design space. According to these atlases, the relationship between the link size and the theoretial workspace of the manipulator is obtained. The distribution rule of the theretical workspace performance indices in the design space is concluded and the better dimension scope of the performance index is given. The at- lases are an important base of reference for the mechanism design of this parallel manipulator.