摘要
提出了一种新型四自由度并联机器人机构,该机构能实现空间的三维移动和一维转动。利用螺旋理论对机构进行自由度分析和瞬时性分析,验证了构型方法的正确性。通过对机构进行输入输出关系分析,求得机构的雅可比矩阵为4×4阶对角阵,证明了机构的完全解耦和完全各向同性。因此该机构控制简单,具有较好的运动和力传递性能以及实用价值。
A novel fully-decoupled three-translational and one-rotational（ 3T1R） parallel robot mechanism is proposed. First,the degree of freedom analysis and instantaneous analysis of the parallel mechanism is carried out by using the screw theory and the correctness of the configuration method is verified.Through the analysis of the relationship between input and output of mechanism,the Jacobian matrix of the parallel mechanism is obtained and it is 4 × 4 order diagonal matrix. The fully-isotropic and fully-decoupled characteristics of the mechanism are proved. And this mechanism control is simple and has good movement and force transmission performance and higher practical value.
出处
《机械传动》
CSCD
北大核心
2016年第6期119-122,154,共5页
Journal of Mechanical Transmission
基金
江苏省高校优秀中青年教师和校长赴境外研修计划
江苏高校品牌专业建设工程资助项目(PPZY2015A086)
关键词
自由度
并联机构
完全解耦
完全各向同性
Degree of freedom
Parallel mechanism
Fully-decoupled
Fully-isotropic
