| 避免设计位形下发生平台奇异的三自由度转动并联机器人设计方法 |
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| 引用本文： | 郭盛,方跃法. 避免设计位形下发生平台奇异的三自由度转动并联机器人设计方法[J]. 中国机械工程, 2005, 16(1): 8-11 |
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| 作者姓名： | 郭盛 方跃法 |
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| 作者单位： | 北京交通大学,北京,100044 |
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| 基金项目： | 国家自然科学基金资助项目(50375001) |
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| 摘 要： | 设计一种基于反螺旋理论的系统方法,给出了具有三个转动自由度的并联机器人的设计要求。分析了产生平台奇异时三条支链所提供的反螺旋的线性关系,利用三条支链对平台所提供的特殊约束,避免设计位形下发生平台奇异现象。给出了设计该类结构的运动副组成类型和空间放置原则。
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| 关 键 词： | 并联机器人 反螺旋理论 设计位形 平台奇异 转动 |
| 文章编号： | 1004-132X(2005)01-0008-04 |
A Structural Synthesis Approach for 3-DOF Rotational Parallel Manipulators Avoiding Platform Singularities in the Design Configuration |
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| Guo Sheng Fang Yuefa Beijing Jiaotong University,Beijing. A Structural Synthesis Approach for 3-DOF Rotational Parallel Manipulators Avoiding Platform Singularities in the Design Configuration[J]. China Mechanical Engineering, 2005, 16(1): 8-11 |
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| Authors: | Guo Sheng Fang Yuefa Beijing Jiaotong University Beijing |
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| Affiliation: | Guo Sheng Fang Yuefa Beijing Jiaotong University,Beijing,100044 |
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| Abstract: | This paper presented a systematic structural synthesis methodology based on the theory of reciprocal screws,which was under given the design requirements for parallel manipulator with 3 rotational DOFs. Furthermore,the linear relationship of 3 links was analyzed when the platform singularities in design configuration will happen. Using this new method, through special constraints provided by the 3 links,a synthesis method is proposed,which can completely avoid platform singularities in the design configuration. Finally, 2 novel manipulators are sketched as design examples. |
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| Keywords: | parallel manipulator theory of reciprocal screw platform singularity design configuration rotation |
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