工程设计学报2025，Vol.32Issue(5)：646-654,9.DOI:10.3785/j.issn.1006-754X.2025.05.177
驱动副共面平行的3-P(2-SS)型并联机器人运动特性及动力学分析
Kinematic characteristics and dynamics analysis of 3-P(2-SS)robot with coplanar parallel driving pairs
摘要
Abstract
The 3-P(2-SS)parallel robot driven by three parallel and coplanar prismatic pairs is more suitable for operation in narrow and long areas compared to the traditional configurations.For this robot,its kinematic equations and Jacobian matrix were established,and the multi-solution nature of the kinematic equations was analyzed.By using the kinematic equations and the screw theory,it was confirmed that under normal working conditions,the robot's moving platform always had only three translational degrees of freedom,thereby simplifying the robot's kinematic equations and Jacobian matrix.The dexterity of the robot was analyzed using the condition number of the Jacobian matrix.The robot exhibited better dexterity when the sliders on both sides were located on the same side of the moving platform;the robot's dexterity deteriorated when it was near the singular points and the boundaries of the motion range.A robot dynamic model was established based on the Lagrange equation.The issue of dynamic uncertainty caused by the local degrees of freedom of the link was resolved using the minimum angular velocity assumption,the problem of the non-constant inertia tensor of the ink relative to the static coordinate system was addressed through transformation of the moving coordinate system,and the robot dynamic equation was obtained.By comparing the results of the dynamics calculation and motion simulation,the correctness of the dynamic equation was confirmed,with the error in the driving force calculation results caused by the minimum angular velocity assumption being within an acceptable range.The research results indicate that the 3-P(2-SS)parallel robot with coplanar parallel driving pairs has excellent operability,and the proposed dynamics modeling method provides a theoretical foundation for the construction of control systems for this type of robot.关键词
3-P(2-SS)/并联机器人/自由度/灵巧性/动力学Key words
3-P(2-SS)/parallel robot/degree of freedom/dexterity/dynamics分类
计算机与自动化引用本文复制引用
李瑾..驱动副共面平行的3-P(2-SS)型并联机器人运动特性及动力学分析[J].工程设计学报,2025,32(5):646-654,9.基金项目
山西省阳泉市基础研究项目(2022JH054) （2022JH054）
