基于工作空间的球面5R并联机器人机构设计

研究球面2自由度2R串联机器人的可达工作空间,并对之进行分类.在此基础上研究球面2自由度5R并联机器人的理论工作空间形成原理,根据理论工作空间的形成条件建立该并联机器人的设计空间,设计空间内包含球面2自由度5R并联机器人机构的所有尺寸型.在设计空间内寻找理论工作空间形状发生变化的机构临界尺寸条件,这些条件将设计空间划分为不同的子区域,不同子区域所对应的球面2自由度5R并联机器人尺寸型机构具有不同形状的工作空间,从而在全部设计空间内对该机器人理论工作空间的形状进行详细分类.探讨该并联机器人机构的工作空间面积性能指标与杆件尺寸之间的关系,并在设计空间里绘制相应的工作空间面积性能图谱.工作空间形状和面积大小是进行机器人机构设计的重要参考依据.

MECHANISM DESIGN OF SPHERICAL 5R PARALLEL MANIPULATOR BASED ON WORKSPACE

The reachable workspace of 2-DOF 2R serial manipulator is studied and classified. Based on these results, the principle of the theoretical workspace of the spherical 2-DOF 5R manipulator being formed is discussed. According to the conditions of the theoretical workspace existing, design space of this manipulator is established, and all link lengths of the manipulator are contained in the design space. Furthermore, the critical dimensional conditions on which the theoretical workspace will change form one shape to another shape is found out, and design space is divided into several sub-regions by these dimensional conditions. The workspace shapes in different sub-region are different from each other, so all the workspace shapes are classified in design space in detail. The relationship between the link lengths and the workspace area performance index of this manipulator is investigated too, and the area performance atlases are plotted in design space. The workspace shape and the value of area are very important for designing the mechanism of manipulator.