Kinematic Analysis and Workspace Calculation of a 6-PTRT Manipulator for Chamfering Gear Addendum

Abstract

Abstract:

6-PTRT manipulator was put forward to achieve the addendum-chamfering automation for spiral bevel gears.The gestures of its movable platform were described through Z-Y-Z Eula angle transformation and its inverse kinematics was formulated with vector equations.Furthermore,its workspace-searching algorithm was analyzed according to geometric restrictions,with the relatively exact workspace obtained.This paper lays a foundation for workspace calculation,trajectory planning,interference checking and control system design of the manipulator.

Key words: spiral bevel gear, parallel manipulator, inverse kinematics, workspace

摘要：

为实现螺旋锥齿轮倒角加工自动化，设计了6-PTRT型齿顶倒角机器人，采用Z-Y-Z型欧拉角变换描述动平台姿态，使用矢量法求解运动学逆解方程,结合几何约束给出了工作空间搜索算法，并计算了样机的工作空间。实例证明该算法可以较精确地计算出倒角机器人的工作空间，为倒角加工的轨迹规划、干涉检查与控制系统设计奠定了基础。

关键词: 螺旋锥齿轮, 并联机器人, 运动学逆解, 工作空间

CLC Number:

TP242.2

WEI Xiu-Ting-1, LI Gang-1, DU Jiang-2, CHEN Qian-Qian-1. Kinematic Analysis and Workspace Calculation of a 6-PTRT Manipulator for Chamfering Gear Addendum[J]. China Mechanical Engineering, 2013, 24(6): 750-754.

魏修亭1, 李刚1, 杜强2, 陈茜茜1. 6-PTRT型齿顶倒角机器人运动学及工作空间分析[J]. 中国机械工程, 2013, 24(6): 750-754.

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Kinematic Analysis and Workspace Calculation of a 6-PTRT Manipulator for Chamfering Gear Addendum

6-PTRT型齿顶倒角机器人运动学及工作空间分析

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