基于3D打印并联机器人机构的工作空间分析

Workspace Analysis of Mechanism of a 3D Printing Parallel Robotic Manipulator

以一种新型三自由度并联机构3-HSS为研究对象,对该机构进行运动学逆解分析,推导出该并联机构的运动学逆解方程,并求解了并联机构的雅可比矩阵,采用Gosselin几何法编程对该并联机器人的工作空间和边界进行研究,得到比较规则的工作空间,且该构型并联机构的工作空间连续,无空洞,并呈现一定的对称性。该研究能够满足当前3D打印技术的设计需求,并为并联机构进一步优化研究提供了理论依据。

A novel three degree of freedom （3-DoF） 3-HSS parallel manipulator is taken as the research object. The Inverse ki-nematics analysis of the mechanism of parallel manipulator and its inverse solutions were obtained. The Jaeohian mati＇ix was deducedwith the previous works. The workspace and boundary of the parallel manipulator were researched by adopting the Gosselin geometricprogramming method, that a relatively regular workspace was obtained, and the workspace of the parallel manipulator were kept contin-uous, without holes and shown certain symmetry. The research results can meet the design requirements of the current three dimensional（3D） printing technology, and lay a theoretical foundation for further optimization research of the parallel manipulator.