一种新型低耦合并联操作手及其运动学

A Novel Type Parallel Manipulator with Lower Coupling-Degree and Its Kinematics

根据基于方位特征(POC)方程的并联机构设计理论和方法,首先,提出了一种可实现SCARA运动的新型低耦合度的四自由度并联操作手CU-2PaRSS-Ⅱ,详细描述了该机构的拓扑结构;其次,计算了机构的耦合度,并建立了机构的正反解模型;然后,对该机构工作空间内的运动性能进行了分析,定量给出了机构的2个运动指标——工作空间体积和转动能力。最后,设计了该操作手样机的三维CAD模型。结果表明:该操作手比I4,Cross-Ⅳ等结构简单,但其工作空间及动平台转动能力相对较大,具有较好的开发、应用价值。

By using POC equation based on the topological structure synthesis theory and method,a novel 4-DOF SCARA type CU-2PaRSS-Ⅱ parallel mechanism（PM）with low coupling degree is presented.Firstly,the topological structure of the mechanism is described in brief;secondly,the coupling degree of the mechanism is calculated,and then the forward and inverse models of the mechanism are established;after that,the kinematic performances of the work space of the mechanism are analyzed,and two indexes of the mechanism are given quantitatively,which are the volume of working space and the rotation ability of the moving platform.Lastly,the 3D model for the prototype of the manipulator is designed.The results show that the manipulator is simpler than I4 and Cross-Ⅳ in structure,but the volume of the work space and the rotation ability of the moving platform are larger relatively,which has good values in development and application.