摘要
考虑机构的灵巧性提出一种新型3-PUU并联机器人,对该并联机构进行运动学分析,得到了3-PUU并联机器人的运动学反解,在此基础上,建立了并联机构的雅可比矩阵;引入运动灵巧性指标。对该并联机器人的运动灵巧性进行了尺度综合分析,为并联机构的构型设计和进一步提供了依据。研究结果表明,该种机器人具有较好的实际应用前景。
A novel 3-PUU parallel manipulator considering the mechanism of dexterity property was addressed. Kinematics analysis of the parallel manipulator was established,and the inverse solutions of the kinematics of the 3-PUU parallel manipulator were obtained. Based on the previous works,the Jacobian matrix of the mechanism was deduced. The kinematic dexterity index was introduced,and the dexterity of the parallel manipulator of dimensional synthesis analysis was carried out,which laid the foundation for the design of the parallel manipulator mechanism and the further study. The results show that the parallel manipulator robot has a good practical application prospect.
出处
《机床与液压》
北大核心
2016年第15期5-7,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(50535010
5067515)
教育部高校博士点基金资助项目(2010056019)
关键词
并联机构
运动学
雅可比矩阵
灵巧性
尺度综合
Parallel manipulator
Kinematics
Jacobian matrix
Dexterity
Dimensional synthesis
