摘要
基于并联机构理论设计了一种凸轮控制的单动力输入三自由度并联机械手,对其进行运动学研究,完成了该机械手的自由度分析、求得运动学正逆解。在此基础上,完成了凸轮的参数化设计。最后用Pro/E进行运动学仿真,验证了设计的正确性,为机械手的速度、加速度模型的建立,工作空间以及奇异性分析提供理论依据。
A single-input three-DOF parallel manipulator controlled by cam is designed based on the parallel mechanism theory. And then the kinematics study is carried out,the analysis of the freedom of the manipulator is completed,the kinematic forward solutions and kinematic inverted solutions are worked out. On this basis,the parametric design of the cam is completed. Finally,by using the kinematics simulation with Pro/E,the correctness of the design is verified,the theoretical basis for the establishment of manipulator speed and acceleration model,workspace and singularity analysis is provided.
出处
《机械传动》
CSCD
北大核心
2018年第2期81-86,共6页
Journal of Mechanical Transmission
关键词
凸轮
并联机械手
运动学分析
运动学仿真
Cam
Parallel manipulator
Kinematics analysis
Kinematics simulation
