基于C集的少自由度并联解耦机器人构型综合

Type Synthesis of Decoupled Less DOF Parallel Mechanism Based on C Set

针对并联机器人各支链间相互运动耦合的特性以及各支链基座在世界坐标系的位姿问题,提出基于C集的一种少自由度并联完全解耦机器人的构型综合方法。阐述C集的基本概念并分析其运算法则;在C集理论的基础上,通过分析机构的组成特性,给出少自由度并联完全解耦机器人构型综合的具体步骤;依据此综合理论,实现三平动(3T)解耦并联机器人构型综合,得到了末端具有3T运动特征的并联机构组合。进而,以传统运动副、对称结构的3T并联机构为主要研究类型,构型出一种并联机构3-PRRR,并分析该机构的雅可比矩阵。结合ADAMS仿真软件验证新机构的解耦性能,结果显示:机构3-PRRR完全解耦,验证了所提方法的有效性。

Aiming at the features of the kinematic coupling between the branches of parallel mechanism and the position problem of the branches bases in the world coordinate system,type synthesis of fully decoupled less DOF translational parallel mechanism was proposed.The basic concept of C set was explained and its algorithm was analyzed.The concrete steps of the type synthesis of fully decoupled less DOF translational parallel robot were presented by analyzing the composition characteristics of the mechanism based on the theory of C set.According to this theory,the three translational(3T)decoupling parallel mechanism synthesis was achieved and a large number of parallel mechanism groups with 3T motion characteristics were obtained.Then,taking the parallel mechanism of the traditional motion pair and the symmetrical structure as the main research type,the Jacobian matrix of the mechanism(3-PRRR)was analyzed.The validation of the method is demonstrated that the decoupling performance of the 3-PRRR is verified by ADAMS and the simulation result shows that the mechanism is completely decoupled.