一种新型六自由度并联机器人设计

为了扩大并联机器人的工作空间，减少整体尺寸，设计一种新型的六自由度并联机器人，它由6个SPS支链连接动平台与滑块，滑块绕定平台旋转以改变动平台位姿。通过在静平台与动平台分别建立静坐标系与动坐标系得到变换矩阵，进而求得六自由度并联机器人的位姿反解，即每个滑块的位置。在得到此并联机器人位姿信息后将每个支链视为二力杆求出每个滑台的受力情况，进而计算得到此并联机器人各位姿驱动力。并提出一种通过线圈拖拽钕磁铁的驱动方式。该新型并联机器人具有Z轴转动不受限制的特点，极大地扩展了其运动范围，且相对常规并联机器人结构尺寸极大减少。

Design and Research of Multi-rotor 6-DOF Parallel Robot Based on Axial Motor

In order to expand the working space and reduce the overall size of the parallel robot, a multi-rotor 6-DOF parallel robot was designed, in which six SPS (S-sphercal hinge; P-prismalic pair) branch chains were used to connect the upper moving platform and sliding blocks on the fixed platform,the sliding blocks rotated around the fixed platform to change the position of the moving platform. The two coordinate systems of the moving platform and the fixed platform were established to obtain the inverse solution of the attitude of the 6-DOF parallel robot through the transformation matrix. After the attitude information of the parallel robot was obtained, each branch chain was regarded as a two-force rod and the force of each sliding block was obtained. Through the force of the sliding blocks, the important parameters of the drive design such as the torque power of the rotor of the parallel robot were obtained.The new parallel robot has the characteristics of unrestricted Z -axis rotation, greatly expanding its motion range, its structure sizes are greatly reduced compared with conventional parallel robots.