一种新型混联机构及其运动学研究

Research on a New Hybrid Mechanism and Its Kinematics

针对目前大负载并联机构工作空间小、曲面加工难度大的问题,现基于2-UPR+RPU并联机构,提出一种新型6自由度混联机构,以期能够在工业机器人加工领域得以应用。研究方法为利用并联机构逆解对混联机构整体进行运动学分析,通过MATLAB与ADAMS联合对比仿真结果的正确性。

Aiming at the problems of small workspace and difficult surface machining of high-load parallel mechanism, based on 2-UPR+RPU parallel mechanism, a new 6-DOF hybrid mechanism was proposed, which was expected to be applied in the field of industrial robot processing. The research method is to use the inverse solution of parallel mechanism to carry out kinematics analysis of the hybrid mechanism as a whole. The correctness of simulation results is compared by MATLAB and ADAMS.