摘要
为实现人工骨关节表面抛光的自动化,课题组充分利用串并联机构之间的机构特性优势互补的特点,设计了一种XY-3-RPS混联人工骨关节抛光机器人,该混联机器人具有5个自由度。笔者搜索了并联机构和混联机构的工作空间;对比分析了基于正逆运动学的支链位置变化曲线;在并联机构欧拉角表示法及运动学理论的基础上建立了混联机构运动学数学模型,并利用MATLAB及ADAMS进行仿真验证。结果表明机构正逆运动学曲线吻合,运动稳定。该混联机构完全满足抛光人工骨关节表面的运动及工作范围要求。
Aiming at the automation of artificial bone joint surface polishing,a XY-3-RPS hybrid artificial bone joint polishing robot with 5 degrees of freedom was designed by taking full advantage of the complementary characteristics of the series and parallel mechanisms.The working space of parallel mechanism and hybrid mechanism was consulted and the position change curve of branch chain based on forward and inverse kinematics was compared and analyzed.On the basis of Euler angle representation method and kinematics theory of parallel mechanism,the kinematics mathematical model of the mixed mechanism was established,and the simulation and verification was carried out by Matlab and ADAMS.The results show that the forward and inverse kinematic curves are consistent and the motion is stable,which proves that the hybrid mechanism can completely meet the requirements of the motion and working range of the polished artificial bone joint surface.
作者
王吉栋
王顺
温勇壮
宋孝宗
WANG Jidong;WANG Shun;WEN Yongzhuang;SONG Xiaozong(School of Mechanical Engineering,Lanzhou University of Technology,,Lanzhou 730050,China)
出处
《轻工机械》
CAS
2020年第6期5-10,共6页
Light Industry Machinery
基金
国家自然科学基金项目(51565031)。
