中国机械工程2018，Vol.29Issue(8)：883-892,10.DOI:10.3969/j.issn.1004-132X.2018.08.001
运动解耦和低耦合度选择顺应性装配机器手臂并联机构的设计及其运动分析
Design and Kinematics of a SCARA Parallel Mechanism with Motion Decoupling and Low Coupling Degree
摘要
Abstract
A new type of motion-decoupling SCARA(selective compliance assembly robot arm) parallel mechanism(PM)with low coupling degree(κ=1)was presented according to topology design theory of parallel mechanism based position and orientation characteristics(POC)equations.Algebraic equations of closed-form direct position were deduced by kinematic modeling based on single-open-chain(SOC),and then solutions for direct position of this PM were solved.Equations of inverse posi-tions were also derived.Finally,workspace,rotation ability and singularity of the PM were analyzed based on the inverse kinematics.关键词
并联机构/运动解耦/耦合度/工作空间/奇异性分析Key words
parallel mechanism(PM)/motion decoupling/coupling degree/workspace/singular-ity分类
机械制造引用本文复制引用
沈惠平,许可,杨廷力..运动解耦和低耦合度选择顺应性装配机器手臂并联机构的设计及其运动分析[J].中国机械工程,2018,29(8):883-892,10.基金项目
国家自然科学基金资助项目(51475050,51375062) （51475050,51375062）
江苏省重点研发计划资助项目(BE2015043) （BE2015043）
