中国机械工程2017，Vol.28Issue(20)：2500-2508,9.DOI:10.3969/j.issn.1004-132X.2017.20.016
一种3-CRCR/RPU对称并联机器人机构工作空间及运动学分析
Workspace and Kinematics Analysis of a 3-CRCR/RPU Symmetrical Parallel Robot Mechanism
摘要
Abstract
A novel symmetrical 3-CRCR/RPU parallel mechanism was proposed.Based on the modified Kutzbach-Grtübler formula and the screw theory,it is concluded that the mechanism has four degrees of freedom.The vector equation was established according to the conditions of geometric constraint.The kinematic positive and inverse solutions were gained in form of analytical solutions.The velocity and acceleration of the parallel mechanism were analysed,which was based on the kinematic inverse solution.The mechanism had no singularity and partially decoupled by analyzing Jacobian matrix.A simulation model was established by ADAMS software to verify the correctness of the kinematics model.The workspace was given according to the conditions of each joint constraint,and the conclusion was obtained,that α-β-z configuration space of the mechanism was similar to oblique hexahedron.Finally,the influences of the structural parameters on the workspace were studied.The overall performance distribution of the mechanism under different structural parameters was studied based on the improved global performance index ηJ,which provides the basis for the optimization of the mechanism's spatial trajectory planning and structural design.关键词
并联机器人机构/运动学分析/螺旋理论/工作空间Key words
parallel robot mechanism/kinematics analysis/screw theory/workspace分类
信息技术与安全科学引用本文复制引用
周少瑞,刘宏昭..一种3-CRCR/RPU对称并联机器人机构工作空间及运动学分析[J].中国机械工程,2017,28(20):2500-2508,9.基金项目
国家自然科学基金资助项目(51275404) （51275404）
