Design and Analysis of a Mechanism for Spatial Translational Parallel Robot
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摘要: 提出一种空间移动并联机器人机构，该机构由静平台、动平台和连接两平台的三条结构完全相同的CPR型分支运动链构成。基于螺旋理论对其动平台运动输出特性进行了分析，并利用全局雅可比矩阵研究了机构的主动输入选取和奇异性；根据不同的主动输入方式建立了机构的位置矢量方程，尤其是当采用圆柱副的线性位移作为主动输入时，机构动平台的输出运动与主动输入间呈一对一的线性映射控制关系，其速度雅可比矩阵为阶单位阵，因此该机构在整个工作空间内具有完全各向同性的特性；利用ADAMS和MATLAB软件对机构进行运动学仿真；最后，讨论了机构的工作空间。Abstract: A mechanism for spatial translational parallel robotic, which is composed of a fixed base connected to a moving platform by three identical CPR-type kinematic chains, is put forward. Based on the screw theory, the output motion characteristics of the moving platform are analyzed. Selection of the actuated inputs and singularity of the mechanism are discussed by means of the overall Jacobian matrix. According to the different input forms, the kinematic vector equations of the mechanism are established. Especially, when the linear displacements of three cylindrical joints are selected as the actuated inputs, there exists one-to-one linear mapping control relationship between the outputs of the moving platform and the inputs of the actuated joints. Meanwhile, it is derived that its Jacobian is a unit matrix, which indicates that the mechanism has the fully-isotropic performance throughout its whole workspace. The kinematic simulation is also carried out by using software MATLAB and ADAMS. Finally, workspace of the mechanism is discussed.
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Key words:
- parallel robotic mechanism /
- screw theory /
- fully-isotropy /
- kinematic analysis /
- workspace
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