农业机械学报2017，Vol.48Issue(5)：405-412,8.DOI:10.6041/j.issn.1000-1298.2017.05.052
低耦合度3T1R并联操作手设计与运动学分析
Design and Kinematics Analysis of a Novel 3T1R Parallel Manipulator with Lower Coupling Degree
摘要
Abstract
Comparing with the 3-DOF Delta mechanism,the 4-DOF parallel mechanisms which can achieve SCARA motion (i.e.,three translations and one rotation) have their own complex topological structures with coupling degree k =2,which results in the higher complexity level of solutions for forward kinematics and dynamics.According to the design theory for parallel mechanisms (PMs) based on position and orientation characteristic (POC) equation and the principle for the coupling degree reducing,a novei 4-DOF SCARA type parallel manipulator with lower coupling degree of k =1 was proposed.Firstly,the structure of the 4-DOF SCARA PM was introduced and the coupling degree of the mechanisms was calculated as being k =1.Secondly,the direct position and the inverse kinematics problem of the mechanism was solved by using the modeling methods based on the ordered SOC unit,and the positive and inverse solutions were verified by numerical methods using Matlab.Furthermore,the workspace of the mechanism was analyzed based on inverse solutions formula.Meanwhile,rotation ability of the PM was analyzed.Finally,the singularity analysis of the mechanism was also performed based on Jacobian matrix,from which three kinds of singular conditions were obtained.The results showed that the manipulator had a simpler mechanical structure and larger workspace and rotation ability than H4 or Cross-Ⅳ under the same set of structural parameters.The research provided a theoretical base for its kinematics and dynamics and optimal design of this manipulator.关键词
并联机构/方位特征集/运动学/三平移一转动/低耦合度/工作空间Key words
parallel mechanism/position and orientation characteristic set/kinematics/3T1R/lower coupling degree/workspace分类
机械制造引用本文复制引用
沈惠平,尹洪贺,邵国为,杨廷力..低耦合度3T1R并联操作手设计与运动学分析[J].农业机械学报,2017,48(5):405-412,8.基金项目
国家自然科学基金项目(51475050、51375062)和江苏省重点研发计划项目(BE2015043) （51475050、51375062）
