一种新型并联机器人的运动性能

Kinematic Behavior of a New Parallel Robot

介绍了一种新型三腿并联机器人,给出了机构的运动学方程和雅可比矩阵,分析了机器人的工作空间·通过机器人的可操作性指标和雅可比矩阵条件数指标分析了机构的奇异性和灵巧性·由仿真分析结果可知,该并联机器人具有较大的工作空间,并且工作空间关于x轴对称·机器人在整个工作空间内可操作度W在(0 8,2 45)内变化·说明机器人在整个工作空间中没有奇异形位和不定形位,具有良好的可操作性·雅可比矩阵条件数C(J)在(1 0,6 2)内变化,并且C(J)在随X,Y,Z变化时没有突变,说明该机构运动灵巧性好·

A newly developed 3leg parallel robot was concerned with its kinematic behavior, of which the related equations and Jacobian matrix were presented with its workspace analyzed. The singularity and smartness of the robot mechanism were discussed by way of ascertaining the indices of operability and condition number of Jacobian matrix. The results of simulation show that the robot has workspace symmetrical about Xaxis. The robots operability W varies in a range from 08 to 245 within its whole workspace, i.e., an excellent operability without singular/uncertain position. Meanwhile, the matrix condition number C(J) varies in a range from 10 to 62 without sudden break if picking up any coordinated axis (X,Y,Z) to indicate its value. These reveal that the robot is of high kinematic smartness.