一种四自由度并联机器人的运动性能分析及仿真

doi:10.16180/j.cnki.issn1007-7820.2021.11.008

摘要/Abstract

摘要：

文中采用方位特征理论对3-TRT/SPS并联机器人进行机构特性分析,获得了该机器人的方位特征集和运动自由度,结果与机器人结构构型综合的预期一致。运用解析法对并联机器人位置的正、逆运动学进行求解分析,证明了机器人位置正反解算法的有效性,并进一步验证了该并联机器人结构设计的合理性。采用极坐标搜索法求解了3-TRT/SPS并联机器人的工作空间,比较了不同结构参数对工作空间的影响。在机构参数相同的情况下,对比了3-TRT/SPS并联机器人与3-PTT并联机器人的工作空间。对比结果显示,3-TRT/SPS并联机器人相对于3-PTT并联机器人有更广阔的应用范围。

关键词: 3-TRT/SPS, 并联机器人, 机构拓扑学, 方位特征理论, 自由度, 机构耦合度, 正反解, 工作空间

Abstract:

In this study, the mechanical characteristics of the 3-TRT / SPS parallel robot are analyzed using the position and orientation characteristics theory. The aggregation of position and orientation characteristics and the degree of freedom of the robot are obtained, which are consistent with the expectation of robot mechanism configuration synthesis. The forward and inverse kinematics of the position of the parallel robot is analyzed using the analytic method. The results indicate that the forward and inverse kinematics algorithm are effective and feasible, and verify the rationality of the structural design of the parallel robot. The polar search method are utilized to solve the workspace of the 3-TRT/ SPS parallel robot, and the influence of different structural parameters on the workspace is compared. In the case of the same mechanism parameters, the working spaces of the 3-TRT/SPS parallel robot and the 3-PTT parallel robot are compared, and the results show that the 3-TRT / SPS parallel robot has a broader range of applications than the 3-PTT parallel robot.

Key words: 3-TRT/SPS, parallel robot, mechanism topology, position and orientation characteristics theory, degrees of freedom, coupling degree of mechanism, positive and inverse solutions, workspace

中图分类号:

TP242.3

胡琼琼,伞红军,陈久朋,谢飞亚,陈中平,李鹏宇. 一种四自由度并联机器人的运动性能分析及仿真[J]. 电子科技, 2021, 34(11): 46-54.

HU Qiongqiong,SAN Hongjun,CHEN Jiupeng,XIE Feiya,CHEN Zhongping,LI Pengyu. Motions Analysis and Simulation of a Parallel Robot with Four Degrees of Freedom[J]. Electronic Science and Technology, 2021, 34(11): 46-54.

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