一种平面二自由度并联机器人承载能力分析（英文）

Analysis of payload capability performance of a planar two degree-of-freedom parallel manipulator

以一种可实现末端运动平台平动且具有较小运动惯量的平面二自由度并联机器人机构为研究对象,分析其承载能力性能。与传统的分析和优化设计方法不同,综合考虑机器人机构的几何尺寸和运动变量的变化范围,作为机器人机构的运动学参数,利用空间模型理论,建立了机器人机构的设计空间。在设计空间内计算机器人机构的承载能力性能指标并绘制了相应的承载能力性能图谱,并探讨了机构承载能力性能指标与运动学参数之间的关系。这些图谱为设计者评价该机器人机构的承载能力性能和选择优化的运动学参数提供了帮助。提出的新方法也为以移动副为驱动的平面并联机器人分析与优化设计提供了一种有效的新途径。

This paper addresses payload capability performance analysis of a two degree-of-freedom planar parallel manipulator with planar translational motion and small inertia. Unlike the traditional analysis and optimum design method, the geometric parameters and the range of input variables of the manipulator are considered together as the kinematics parameters to obtain the new design space which is different with the traditional one by utilizing the theory of geometric model of the solution space method. The global payload capability indices are calculated in the new design space, the atlases for payload capability of the manipulator are plotted, and the relationship between the kinematics parameters and the indices is discussed. The performance atlases are very convenient for a designer to evaluate the payload performance and select the optimum kinematics parameters of the manipulator, and the new method also provides a useful analysis and design way for the planar parallel manipulators with prismatic actu- ators.