一种含防扭臂并联机器人结构及静力学分析

Structural and static analysis of a parallel robot with anti-twist arm

设计了一种含防扭臂结构的3自由度并联平台(3-UPS/PS/RPS),其中UPS为驱动支链,PS和RPS为恰约束从动支链。运用螺旋理论分析其约束状况,表明该机构为无过约束机构。对机构位置进行分析,给出其位置反解求法,通过ADAMS运动曲线证明了动平台在单一自由度上的运动独立性。采用拆杆法对动平台进行静力学分析,得出动平台的静力学平衡方程,分析了防扭臂结构对平台的影响。相应实例验算证明了平台的受力状况良好,防扭臂结构的加入提高了平台承载能力,研究结果可为该机构在工程上的应用作参考。

A parallel three DOF platform （3-UPS/PS/RPS） with anti-twist structure was designed. The UPS was set as driver chain, the PS and RPS were constraint driven branch chain. The constraint condition was analyzed based on the screw theory and there was no over constraint in the mechanism. The position of the mechanism was analyzed and the inverse position solu- tion method was obtained. The movement independence in single DOF was proved through the ADAMS movement curve. The statics analysis was performed on the platform using the split-lever-method and the static equilibrium equations of the moving platform were obtained. The effect of anti-twist arm structure on the platform was analyzed. The relative instance showed that the stress state of the platform was good. The carrying capacity of the platform was improved while adding the anti-twist arm. The re- sults can be used as references when the mechanism applied in the engineering area.