哈尔滨工程大学学报2016，Vol.37Issue(10)：1408-1415,8.DOI:10.11990/jheu.201509009
解耦三转动两平移并联机器人机构型综合
Type synthesis of decoupled three-rotational and two-translational parallel robotic manipulators
摘要
Abstract
In order to research the problem of coupling motion of parallel mechanisms, a method of type synthesis of decoupled three⁃rotational and two⁃translational (3R2T) parallel mechanisms was proposed based on the screw theory and the principle of one leg driving by an independent motor. Firstly, according to the prescribed motion characteris⁃tics of 3R2T decoupled parallel mechanisms, including the rotations around the X, Y, and Z axes, and the transla⁃tions along the X and Y axes respectively, as well as the requirement that the direct Jacobian matrix of the decoupled parallel mechanism must be a diagonal matrix, a methodology was proposed that makes use of the screw theory to syn⁃thesize desired forms for both the direct and the inverse Jacobian matrices. Secondly, according to the features of both direct and inverse Jacobian matrices, the actuation screws of branched chain drive pairs actuated on the moving plat⁃form were confirmed. Then, the actuated screws representing the drive pairs on the corresponding chain as well as the mobile un⁃actuated screws of every limb were derived based on the reciprocal screw theory. Thereby, the screws with a branched chain structure were allocated. Finally, the moving platform and base platform connected by five branch chains were derived in turn according to the type theory of parallel mechanisms. This enabled the acquisition of the parallel mechanisms. The synthesized parallel mechanisms have decoupled characteristics, which prevent the problem of coupling motion, and this provides an application prospect to a certain extent.关键词
型综合/并联机构/支链驱动/螺旋理论Key words
type synthesis/parallel mechanisms/driven-chain/screw theory分类
机械制造引用本文复制引用
曹毅,陈海,秦友蕾,曹浩峰,周辉..解耦三转动两平移并联机器人机构型综合[J].哈尔滨工程大学学报,2016,37(10):1408-1415,8.基金项目
国家自然科学基金项目（50905075）；机器人技术与系统国家重点实验室开放基金项目（ SKLRS－2016－KF－06）；机械系统与振动国家重点实验室开放课题（ MSV201407）；上海交通大学系统控制与信息处理教育部重点实验室开放基金（SCIP201506）． （）
