一种新型可重构Stewart衍生型并联机器人的奇异位形及工作空间

Research on the singular configuration and workspace of a new reconfigurable Stewart derivative parallel robot

设计了一种新型可重构Stewart衍生型并联机器人,并对其奇异位形及工作空间进行了分析。基于矢量代数法推导出并联机器人位置反解的全解析表达式,并通过算例验证其正确性;基于直接微分法推导出并联机器人的雅可比矩阵,进一步地,结合Gosselin法分析了该并联机器人的奇异位形;建立了并联机器人结构中球铰链和二重复合虎克铰链的转角约束方程,结合位置反解解析式并运用有限离散法,获得了并联机器人的位置工作空间和姿态工作空间。研究内容为可重构Stewart衍生型并联机器人后续的轨迹规划、机构优化研究奠定了基础。

In this article,a new reconfigurable Stewart derivative parallel robot is designed and the analysis is conducted on its singular configuration and workspace. By means of the method of vector algebra,the full analytical expression of the inverse solution of position is derived,and some examples are adopted to verify that the expression is correct. The Jacobi matrix of the parallel robot is derived with the help of the direct differential method,and then the analysis is carried out on the mechanism’s singular configuration by means of the Gosselin method. Besides,the angular constraint equations of ball hinge and double composite hook hinge in the structure are worked out,and both the position workspace and the attitude workspace are identified in combination with the analytical expression of the inverse solution of position and the finite-discrete method. The research lays a solid foundation for the follow-up trajectory planning and mechanism optimization of the reconfigurable Stewart derivative parallel robot.