青岛大学学报（自然科学版）2023，Vol.36Issue(4)：46-53,8.DOI:10.3969/j.issn.1006-1037.2023.04.08
基于旋量分析的4-PaUS/PPPU并联机构设计与性能仿真
Design and Performance Simulation of 4-PaUS/PPPU Parallel Mechanism Based on Screw Analysis
摘要
Abstract
As the parallel robot multi-ring structure can effectively solve the series robot in the field of high precision processing low accuracy,poor rigidity,slow response,a novel 4-PaUS/PPPU 2 R3 T parallel configuration was designed by screw method.The degree of freedom of the mechanism was analyzed by using the spiral theory,and the inverse kinematics inverse solution analytical formula of the mechanism was given.The motion/force transmission performance was simulated,and the ITI value of the parallel mechanism in the working space was above 0.7,which had good motion/force transmission performance.关键词
并联机器人/旋量理论/运动学/运动/力传递性能Key words
parallel robot/screw theory/kinesiology/motion/force transmissibility分类
机械制造引用本文复制引用
王同特,黄海滨,傅亭硕,程华康..基于旋量分析的4-PaUS/PPPU并联机构设计与性能仿真[J].青岛大学学报（自然科学版）,2023,36(4):46-53,8.基金项目
福建省自然科学基金(批准号:2022J011244)资助. （批准号:2022J011244）
