湖南大学学报（自然科学版）2016，Vol.43Issue(10)：110-118,9.
3RPS/UPS结构并联机器人设计与分析∗
Design and Analysis of 3RPS/UPS Parallel Mechanism
摘要
Abstract
To meet the demand of ankle rehabilitation training in degree of freedom (DOF),workspace and stiffness,this paper proposed a three-DOF parallel mechanism with a novel 3RPS/UPS structure.By adding a redundant driving chain with UPS structure under the foundation of the conventional 3RPS mech-anism,the proposed structure can meet the demand of DOF and enhance the stiffness simultaneously.Con-sequently,the shaking and deformation of the operating platform is decreased,and the operation accuracy is improved as well.In this paper,we conducted a systematic analysis on the aspect of inverse kinematics, workspace and stiffness,and then demonstrated the feasibility of the proposed 3RPS/UPS structure to an-kle rehabilitation training with the characteristics of heavy-load,microoperation and so on.To verify the applicability in practical operation of the proposed 3RPS/UPS structure,we conducted kinematics control simulation and obtained a high accuracy in dynamic traj ectory tracking.关键词
刚度/并联机器人/逆运动学/3RPS/工作空间/运动学控制Key words
stiffness/parallel mechanism/inverse kinematic/3RPS/workspace/kinematics control分类
信息技术与安全科学引用本文复制引用
梁桥康,吴贵元,邹坤霖,王耀南,孙炜,赵全育..3RPS/UPS结构并联机器人设计与分析∗[J].湖南大学学报（自然科学版）,2016,43(10):110-118,9.基金项目
国家自然科学基金资助项目(61673163),National Natural Science Foundation of China(61673163) （61673163）
湖南省普通高校青年骨干教师培养对象项目 （）
湖南省自然科学基金资助项目(2016JJ3045) （2016JJ3045）
湖南大学汽车车身先进设计制造国家重点实验开放基金资助项目(31565006) （31565006）
长沙市科技计划项目(k1501009-11) （k1501009-11）
