中国机械工程2018，Vol.29Issue(3)：253-261,9.DOI:10.3969/j.issn.1004-132X.2018.03.001
一种3-DOF并联机械手的研制
Development of a 3-DOF Parallel Manipulator
摘要
Abstract
A new type of 3-DOF manipulators based on (U+UPS)P+UPS mechanisms was proposed.Firstly,the inverse position equation was presented,the velocity transmission model and the statics transmission equation were established respectively.Also,the 3D maps of the workspaces and the 3D maps of condition number of Jacobian matrix in the workspaces were drawn by searching method.Then,a set of kinematics performance evaluation indexes were defined,and the relationship curves among structure parameters and the kinematics performance evaluation indexes were drawn.A set of statics performance evaluation indexes were defined,and the relationship curves among structural parameters and the statics performance evaluation indexes were drawn.The structural parameters were analyzed by Monte Carlo method.An excellent set of structural parameters is found:the distance between two universal joint's rotation center points of the fixed platform is as 240 mm,the distance between spherical joint's rotation center point and UP branch's connect point of the moving platform is as 80 mm,the distance between middle connecting rod's spherical joint's rotation center point and UP branch's center line is as 90mm,the distance between middle connecting rod and UP branch's universal joint's rotation center points is as 600 mm.Finally,the prototype was made.The statics calibration experiments of the manipulator were carried out,and the manipulator structure was proved to be reasonable.关键词
机械手/轮毂打磨/并联机构/运动学分析/静力学分析/试验样机Key words
manipulator/wheel grinding/parallel mechanism/kinematics analysis/statics analysis/prototype分类
信息技术与安全科学引用本文复制引用
荣誉,刘双勇,王洪斌,韩勇..一种3-DOF并联机械手的研制[J].中国机械工程,2018,29(3):253-261,9.基金项目
国家科技支撑计划资助项目(2015BAI06B01) （2015BAI06B01）
河北省高等学校科学技术研究青年基金资助项目(QN2015185) （QN2015185）
河北科技师范学院博士启动基金资助项目(2015YB004) （2015YB004）
