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四自由度混聯(lián)機器人運動學(xué)分析與仿真
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    摘要:

    根據(jù)串聯(lián)機構(gòu)和并聯(lián)機構(gòu)的特點，以兩平移一轉(zhuǎn)動并聯(lián)機構(gòu)為主體，設(shè)計了一種四自由度混聯(lián)機器人，該機器人動平臺自由度為三平移和一轉(zhuǎn)動，同時，在并聯(lián)機構(gòu)動平臺和虛擬固定平臺間增加一輔助支鏈，該輔助支鏈具有獨立的轉(zhuǎn)動自由度。與具有同樣運動特性的并聯(lián)機構(gòu)相比，該機器人的工作空間大，轉(zhuǎn)動靈活。分析了該機器人的運動學(xué)特征，求出其位置正反解析解，利用運動影響系數(shù)對其速度和加速度進(jìn)行了系統(tǒng)研究，并進(jìn)行了動態(tài)仿真驗證。

    Abstract:

    According to the characteristics of series and parallel mechanism, a novel mixed-connection manipulator was designed. Its moving platform had three translational and one rotational degree of freedom. There was a subsidiary chain between the virtual fixing platform and the moving platform, which had an independent rotational degree of freedom. Compared with the parallel mechanism of the same kinematic characteristics, the workspace of the manipulator was large and its rotational degree of freedom was flexible. The manipulator was investigated and the closed-formed solutions of both the inverse and direct kinematics were developed. The velocities and accelerations were studied by using the method of kinematic influencing coefficients. The dynamic simulation was conducted, which verified the correctness of the theoretical inference.

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余順年,陳扼西,馬履中.四自由度混聯(lián)機器人運動學(xué)分析與仿真[J].農(nóng)業(yè)機械學(xué)報,2007,38(10):108-112.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(10):108-112.

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