摘要
分析了一种新型两平移一转动并联机器人机构 ,求出其运动学正解和反解封闭解 ,讨论了该机构的控制解耦性。与其它类似机构相比 ,该机构不仅结构简单、位置分析求解容易 ,而且正解具有完全控制解耦关系。该机构可广泛应用于工业装配机器人、微动机器人、虚拟轴并联机床。
A kind of new typed mechanism of parallel robot with two translational and one rotational degree of freedom was being analyzed. Its close-formed kinematics solutions in both direct and inverse directions were found. The controlled decoupling of the mechanism was discussed. Compared with other similar mechanisms, this mechanism is not only simple in structure; easy in the solution of position analysis but the direct solution also possessing complete controlled decoupling relationship. This mechanism can be widely applied to the fields of industrial assembling robot, jogging robot, virtual-axle parallel machine tool, multi-dimensional damping platform and massage robot and etc.
出处
《机械设计》
CSCD
北大核心
2004年第11期16-17,共2页
Journal of Machine Design
基金
国家自然科学基金项目 (50 3750 67)
关键词
并联机器人
位置分析
解耦性
parallel robot
position analysis
decoupling property
