现代制造工程Issue(6)：32-41,10,11.DOI:10.16731/j.cnki.1671-3133.2026.06.004
两种具有位置正解的2T1R并联机器人机构运动学性能对比分析
Comparative analysis of kinematic performance of two 2T1R parallel robot mechanisms with position positive solutions
摘要
Abstract
In response to the demand for workpiece handling and sorting in industrial production,a parallel robot mechanisms to-pology design method based on the Position and Orientation Characteristic(POC)equation was developed to design four Two Translations and One Rotation(2T1R)parallel robot mechanisms with the characteristics of avoiding mechanical collisions,sim-ple branch structures.The main topological features of the parallel robot mechanism(POC,degrees of freedom,coupling degree)were analyzed,taking two 2T1R parallel robot mechanisms in which the axes of the revolute pairs were perpendicular to the Z-axis as an example,based on the principle of topological feature kinematic modeling,kinematic equations were modelled,the symbolic solutions of the position forward and inverse solutions were derived,and the numerical simulation of the position in-verse solution was verified.The three types of singular positions of the parallel robot mechanism were analyzed through Jacobian matrix analysis.Then,performance indicators such as workspace,rotational ability,and dexterity of the parallel robot mechanism were studied.Finally,the influence trend of structural size parameters on workspace and rotational ability indicators was investiga-ted,the design of institutional application scenarios was completed.The simulation results showed that compared with configuration 1,configuration 2 had better workspace,rotational ability,and dexterity performance under the same parame-ters.Configuration 1's rotational ability and workspace volume could take larger values simultaneously,while configuration 2's ro-tational ability and workspace volume were separated and could not achieve larger values simultaneously.The above research pro-vides reference for the subsequent optimization design,motion trajectory planning and control of the parallel robot mechanisms.关键词
拓扑设计/并联机器人/运动学方程/奇异性/工作空间/转动能力/灵巧度Key words
topology design/parallel manipulator/kinematic equations/singularity/workspace/rotation capacity/dexterity分类
机械制造引用本文复制引用
张晓莉,岳雪芝..两种具有位置正解的2T1R并联机器人机构运动学性能对比分析[J].现代制造工程,2026,(6):32-41,10,11.基金项目
国家自然科学基金项目(61966015) （61966015）
