Design and Kinematics Analysis of a 2T1R-type Spatial Parallel Robotic Mechanisms
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摘要: 提出一种新型3自由度空间并联机器人机构,该机构由动平台、定平台和联接两平台的3条结构不同的分支运动链组成,机构动平台具有二维移动一维转动(2T1R)自由度。通过将动平台退化为末端操作器和机构3条分支运动链排列次序的调整,演化出另外两种新型2T1R并联机器人机构,且演化后的机构末端操作器具有更高的转动性能,能实现360°回转。基于螺旋理论对所提出机构的自由度进行了分析和计算,推导出机构的运动学解析解,包括位置、速度和加速度。由于机构雅可比矩阵为单位阵,且其条件数恒等于1,故此类并联机器人为完全各向同性机构。Abstract: A novel three degrees of freedom spatial parallel robotic mechanism, which consists of a moving platform con-nected with a fixed base by three different limbs,is proposed. Its moving platform has two-translational and one-rotary DOF with respect to the fixed base. Other two new 2T1R parallel mechanisms with higher rotational capability are e-volved when the moving platform is degenerated to an end-effector and the assemble sequence of three limbs is adjusted.The DOF number of the parallel mechanisms is analyzed and computed based on the screw theory. The kinematic equa-tions including position and pose,velocity and acceleration are established. the mechanism is fully-isotropic throughout the entire workspace as the Jacobian matrix is an identity one and its condition number is equal to 1.
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Key words:
- fully-isotropic /
- Jacobian matrices /
- kinematic analysis /
- parallel robotic mechanism
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