一种基于8-UPS并联机构的步行加工机器人运动学分析

Kinematics Analysis of a Walking Machining Robot Based on 8-UPS Parallel Mechanism

将结构简单且具有较高承载能力的并联机构作为本体,设计一种基于8-UPS(虎克铰—移动副—球副)并联机构的新型步行加工机器人,吸收并联机器人和移动机器人的优点,进而提高机器人的行走效率和加工大工件的能力.新设计机器人具备两种不同的工作模式:加工模式和步行模式.给出加工模式下机器人的运动学反解方程和雅可比矩阵,分析步行模式下机器人的自由度及稳定性.虚拟样机的仿真结果显示机器人可以实现稳定的加工及平稳连续的步态行走,表明所设计的机器人具有可行性,拓宽了并联机构的应用领域.

Taking the parallel mechanism with simple structure and high bearing capacity as the noumenon,a new type of walking machining robot based on 8-UPS(Universal-Prismatic-Spherical)parallel mechanism was designed.By absorbing the merits of parallel robot and mobile robot,the walking efficiency of robot as well as the ability of processing large workpieces were improved.The new designed robot has two different operating modes:processing mode and walking mode.The inverse kinematics equation and Jacobian matrix of robot in processing mode were given,and the freedom and stability of robot in walking mode were aralyzed.The simulation results of virtual prototype show that the robot can achieve stable processing and steady and continuous walking,which indicates that the designed robot has feasibility and broadens the application field of parallel mechanism.