一种平面二自由度并联机器人的设计空间及其灵巧性分析

Analysis of the Design Space and Dexterity of a Planar Two Degree of Freedom Parallel Manipulator

提出一种新型平面二自由度并联机器人机构,其运动平台具有较小的惯量,且其输出为平面内的平动。以不同于传统的分析方法,综合考虑机器人驱动滑块的行程与机器人机构的几何尺寸,对它们量纲一化,得到了该机器人的设计空间。在设计空间内计算灵巧性性能指标值,并绘制了该机器人的灵巧性性能图谱。灵巧性性能图谱反映了该机器人灵巧性性能指标与机器人运动学参数之间的一一对应关系。该灵巧性性能图谱对于该新型机器人机构的设计是极为有用的,这里提出的新方法也为以移动副为驱动的并联机器人的机构设计提供了一种简单、全面而有效的新途径。

A novel planar two degree of freedom parallel manipulator is presented,its moving platform of the manipulator has smaller inertia and the output of the manipulator is planar translational motion.Unlike the traditional optimum analysis method,not only the geometric parameters,but also the range of the linear actuators of the manipulator are considered as the kinematics parameters,the design space is obtained by normalizing the actuation and geometric parameter.The dexterity performance index is calculated in the design space,the dexterity atlas of the manipulator is plotted.The dexterity atlas reflects the relationship between the dexterity performance index and the kinematics parameters of the manipulator.The dexterity atlas is very useful for the design of the new manipulator and the new method also provides a simple,comprehensive and effective way for design parallel manipulator that is actuated by linear actuators.