农业机械学报2011，Vol.42Issue(11)：200-207,8.
完全各向同性2T1R空间并联机器人机构型综合
Structural Synthesis of Fully-isotropic 2T1R Spatial Parallel Robotic Manipulators
摘要
Abstract
A systemic methodology for structural synthesis of fully-isotropic two-translational and one-rotational (2T1R) spatial parallel robotic manipulators was proposed. According to the prescribed characteristics of each mechanism limb, the actuation screws, actuated screws and mobile unactuated screws of every limb were confirmed at first based on the reciprocal screw theory. Then the structural synthesis of each kinematic chain for fully-isotropic 2T1R spatial parallel robotic manipulators was performed in the light of different connectivity of the limbs. Finally, the anticipant manipulators were synthesized by connecting the moving platforms to the fixed bases and a lot of new mechanisms were attained. Kinematical analysis about one of manipulators designed here showed that the method is reasonable and correct. The kinematic Jacobian of the mechanism is an identical matrix, so it performed very well with regard to motion and force transmissions.关键词
并联机器人/型综合/完全各向同性Key words
Parallel robotic manipulator/Structural synthesis/Full-isotropic分类
机械制造引用本文复制引用
张彦斌,吴鑫,刘宏昭..完全各向同性2T1R空间并联机器人机构型综合[J].农业机械学报,2011,42(11):200-207,8.基金项目
国家自然科学基金资助项目(50905055)、河南省教育厅自然科学基金资助项目(2010A460006)、河南省高校青年骨干教师资助项目(2010GGJS-079)和河南科技大学博士科研启动基金资助项目 （50905055）
