新型三自由度混合冗余驱动机构运动学研究

Kinematics Analysis of a Novel 3-DOF Hybrid Redundantly Driven Mechanism

在混合驱动理论和冗余驱动理论的基础上,提出新型的3-PSS-6R3自由度混合冗余驱动机器人机构.该机构能够实现二维平移和一维转动,由4条支链构成,其中3条为PSS(移动副-球面副-球面副)结构,对称分布于定、动平台中心,对机构的运动不产生约束;1条支链由平面混合驱动的五杆机构串联一个空间连杆组成,此支链同时对整个机构的运动产生约束.建立了该机构的位置逆解模型,在此基础上,运用数值方法对机构的运动学进行了验证.本文的研究结论为混合驱动机构向空间发展提供理论依据.

A new 3-PSS-6R 3-DOF hybrid redundant driven was proposed based on hybrid driven mechanism and redundant driven mechanism.The mechanism could achieve two-dimensional translation and one-dimensional rotation composed of four branch chains,three of which were PSS(prismatic pair-spherica pair-spherica pair)limbs distributed symmetrically at the center of the fixed and moving platform,and had no constraint on the movement of the mechanism.A middle limb was composed of a five-bar mechanism driven by constant speed motor and servo motor and a spatial link,which simultaneously constrained the movement of the whole mechanism.The inverse position solution model of the mechanism was established,and the inverse position solution of the mechanism was obtained.Then,the kinematics was verified by numerical method.The research provide theoretical basis for the development of hybrid driven mechanism to space.