南京航空航天大学学报2025，Vol.57Issue(3)：459-466,8.DOI:10.16356/j.1005-2615.2025.03.007
4-RPR平面并联机器人的正运动学及奇异性能
Forward Kinematics and Singularity of 4-RPR Planar Parallel Robots
摘要
Abstract
Redundant actuation can help robots overcome singular configurations,while there is no consensus on whether it can improve the motion/force transmission performance of the mechanism.In this regard,firstly,a redundant actuated 4-revolute-joint,prismatic-joint,revolute-joint(4-PRR)planar parallel robot is designed,and its forward kinematics equation is established and analytically solved.Secondly,based on the scale constraint relationship,the rod length coordination equation is derived and analytically solved.Then,based on the displacement derivative method,the Jacobian matrix is derived and the singular configuration is analyzed.Thirdly,the local conditioning index(LCI)of the robot is solved by using mathematical tools such as the generalized inverse and the block matrix.Finally,the positive solution characteristics,singular configurations,and motion/force transmission performance of the 4-RPR parallel robot are compared with four types of 3-RPR parallel robots.Results show that the number of solutions to the forward kinematics equations of the newly designed robot is reduced by half,with fewer singular configurations and the proportion of high-quality workspace increased by 1.15%to 16.67%.This indicates that the 4-RPR planar parallel robot is easier to control in motion and has superior singularity performance,making it suitable for applications,such as 3D printing and palletizing,that require high flexibility.关键词
并联机器人/冗余驱动/正运动学/奇异性/局部条件数Key words
parallel robot/redundant actuation/forward kinematics/singularity/local condition number分类
机械工程引用本文复制引用
李新宇,尤晶晶,华洁,张毅,叶鹏达..4-RPR平面并联机器人的正运动学及奇异性能[J].南京航空航天大学学报,2025,57(3):459-466,8.基金项目
国家自然科学基金(51405237) （51405237）
江苏省大学生创新创业项目(202410298023Z) （202410298023Z）
高端装备机械传动全国重点实验室开放基金(SKLMT-MSKFKT-202330). （SKLMT-MSKFKT-202330）
