摘要
以一种9-3 Stewart型并联机器人为研究对象,对其进行结构设计及奇异位形分析。通过设计三重复合虎克铰链,减小了运动学求解难度;通过设计可转换主、从运动的变胞移动副,实现了变拓扑驱动;基于环路方程法推导出了并联机器人的速度雅可比矩阵,并运用代数法分析了并联机器人的奇异位形,得到了并联机器人的位置奇异曲面和姿态奇异曲面。研究内容为该并联机器人后续的轨迹规划及工作空间优化奠定了理论基础。
In this article,the 9-3 Stewart parallel robot is the subject to structural design and singular-configuration analysis.By designing the triple composite Hooke hinge,the difficulty in solving kinematics is reduced.By designing the metamorphic mobile pair which can convert the master and slave motions,the variable topology drive is realized.With the help of the loop-equation method,the Jacobian matrix of the parallel robot's velocity is derived,and the singularity configuration is analyzed by means of the algebraic method.Thus,both the position singularity surface and the attitude singularity surface of the parallel robot are obtained.This research lays theoretical foundation for subsequent trajectory planning and workspace optimization of the parallel robot.
作者
仇鑫
尤晶晶
叶鹏达
王林康
QIU Xin;YOU Jingjing;YE Pengda;WANG Linkang(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037;Nanjing Estun Automation Co.,Ltd.,Nanjing 211100;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)
出处
《机械设计》
CSCD
北大核心
2023年第5期1-6,共6页
Journal of Machine Design
基金
国家自然科学基金资助项目(51405237)
国家留学基金资助项目(201908320035)
江苏省精密与微细制造技术重点实验室开放基金资助项目。
关键词
并联机器人
结构设计
雅可比矩阵
奇异位形
环路方程法
parallel robot
structure design
Jacobian matrix
singular configuration
loop-equation method
