一种两转一移完全解耦并联机器人机构及其特性分析

摘要/Abstract

摘要：

提出一种具有两转动和一移动自由度的完全解耦并联机构，运用约束螺旋法对机构的自由度数目和运动特性进行分析,推导出了该机构位置正反解的解析表达式，进而求得机构的雅可比矩阵，验证了机构的解耦特性,并对机构的奇异性进行了研究。所提出的解耦并联机构丰富了机构构型库,对其进行的性能分析证实了机构解耦特性，从而为其进一步的应用奠定了理论基础。

关键词: 并联机构, 少自由度, 运动解耦, 奇异

Abstract:

This paper presented a fully decoupled parallel mechanism with one degree-of-freedom(DOF) translation and 2-DOFs rotation. The motion feature of the mechanism and its number of DOF were analyzed by the constraint screw method. The analytical expression of the forward and inverse position for the mechanism was derived, and the expression of the Jacobian matrix was deduced, which validated the decoupling feature of the mechanism. The singularity of the mechanism was also carried out. The novel decoupled parallel mechanism presented herein enriches the mechanism structure, and the performance analysis confirms the decoupling characteristics of the parallel mechanism and establishes the theoretical foundation for its further applications.

Key words: parallel mechanism, less degrees of freedom, motion decoupling, singularity

中图分类号:

TH112

窦玉超, 曾达幸, 李明洋, 胡鑫喆, 侯雨雷, 赵永生. 一种两转一移完全解耦并联机器人机构及其特性分析[J]. 中国机械工程, 2014, 25(2): 241-245.

Dou Yuchao, Zeng Daxing, Li Mingyang, Hu Xinzhe, Hou Yulei, Zhao Yongsheng. Analysis of a 2T1R Fully Decoupled Parallel Robot Mechanism and Its Characteristics[J]. China Mechanical Engineering, 2014, 25(2): 241-245.

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