China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (23): 2785-2789.

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Position Analysis of a 3-DOF PKM Module for a 5-DOF Hybrid Robot Exechon

Li Bin1,2;Huang Tian1;Liu Haitao1;Zhao Xinhua2
  

  1. 1.Tianjin University, Tianjin, 300072
    2.Tianjin University of Technology, Tianjin, 300384
  • Online:2010-12-10 Published:2010-12-15
  • Supported by:
    National High-tech R&D Program of China (863 Program) (No. 2009AA04Z219,2007AA04Z203)

Exechon混联机器人的三自由度并联机构模块位置分析

李彬1,2;黄田1;刘海涛1;赵新华2
  

  1. 1.天津大学,天津,300072
    2.天津理工大学,天津,300384
  • 基金资助:
    国家高技术研究发展计划(863计划)资助项目(2009AA04Z219,2007AA04Z203)
    National High-tech R&D Program of China (863 Program) (No. 2009AA04Z219,2007AA04Z203)

Abstract:

This paper dealt with the inverse and forward position analyses of a 3-DOF parallel mechanism module, which formed the main body of a 5-DOF hybrid robot named Exechon. In the forward position analysis, a twenty-four order polynomial equation was derived, leading to 4 sets of mirror poses associated with 8 real solutions of the polynomial. In the inverse position analysis, an explicit equation was formulated to determine 2 poses associated with 2 solutions. Consequently, the entire set of solutions for the forward and inverse position analyses of the mechanism were found.

Key words: hybrid robot, parallel manipulator, forward position analysis, inverse position analysis

摘要:

以一种组成五自由度混联机器人Exechon的三自由度并联机构模块2-UPR&SPR为研究对象,利用解析法对其位置正/逆解进行分析。针对位置正解,得到了只含一个未知量的24阶多项式方程,给出了该机构位置正解的所有可能解的解析表达式,对于位置逆解,得到了其显式表达。算例表明,由正解方程得到的8个实数解对应4组镜像位形,逆解方程存在2个实数解,对应2种位形,从而得到该机构位置正/逆解的全部解析解。

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