| 新型6-PSS并联机器人工作空间分析 |
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| 引用本文： | 金振林,王军,高峰.新型6-PSS并联机器人工作空间分析[J].中国机械工程,2002,13(13):1088-1090. |
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| 作者姓名： | 金振林 王军 高峰 |
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| 作者单位： | 1. 燕山大学,河北省秦皇岛市,066004
2. 河北工业大学,天津市,300130 |
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| 基金项目： | 燕山大学博士基金资助项目 ( B5 1)，燕山大学科技发展基金资助项目 ( YDJJ0 10 4) |
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| 摘 要： | 提出一种由Stewart平台演绎而来的正交6－PSS并联机器人新机型，介绍其结构布局特点，基于位置反解及其结构约束条件，绘制其工作空间的轮廓图，并定量分析该并联机器人RPY角和机构尺寸参数对其工作空间大小的影响，为该并联机器人的设计与实用化提供理论依据。
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| 关 键 词： | 6自由度并联机器人 正交6－PSS并联机器人 工作空间 |
| 文章编号： | 1004-132X(2002)13-1088-03 |
Workspace Analysis of a Novel 6-PSS Parallel Manipulator |
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| JIN Zhenlin.Workspace Analysis of a Novel 6-PSS Parallel Manipulator[J].China Mechanical Engineering,2002,13(13):1088-1090. |
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| Authors: | JIN Zhenlin |
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| Abstract: | In this paper, the unique design for a novel 6-PSS parallel manipulator with an orthogonal configuration is investigated. This parallel manipulator is a variety of the Stewart platform. The layout feature of the parallel manipulator is described. By using the inverse kinematics equations established and the architecture constraints, the shapes of a constant-orientation workspace are described. The effects of the RPY and design parameters on the workspace volume are studied quantitatively, which can provide theoretical base for the optimal design and application of the parallel manipulator. |
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| Keywords: | 6-DOF parallel manipulator 6-PSS orthogonal parallel manipulator workspace |
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