一类新型空间并联机器人的构型设计与位置分析

突破了传统并联机器人结构创新设计的思维定势,提出了空间并联机器人构型创新设计的新思路,该设计思路主要包括三个步骤:根据具体设计需求选择合适的平面并联机构,并将其替代传统空间并联机器人的动平台;对选择出来的平面并联机器人进行必要的改进,使其满足并联机器人的一般性设计原则,然后选择适当的支路(或运动链)来连接动、静平台;对设计出来的结果进行分析、判断和优选,得到满足设计要求的新型并联机器人机构.并利用该方法提出了一类新型空间并联机器人机构,该机构具有运动学分析简单、控制方便等优点.

Configuration Design and Kinematics Analysis of a Class of Novel Parallel Manipulators

Getting rid of the traditional design idea,a totally new design method about parallel manipulators is presented in this paper.The new approach includes the following main steps: Select appropriate planar parallel manipulators instead of mobile platforms of the traditional spatial parallel manipulators;Improve the above planar parallel manipulators to satisfy the design principles,then choose some advisable limbs to connect mobile platform with the base;Obtain the novel parallel robot configurations by further analysis and decision.Based on the new design idea,two novel structural parallel manipulators are presented.Compared with traditional spatial parallel manipulators,the new parallel manipulators have some advantages: simple kinematics analysis,easy control,and so on.