| 三维平动球平台机器人的位置与工作空间分析 |
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| 引用本文： | 金振林,余跃庆. 三维平动球平台机器人的位置与工作空间分析[J]. 中国机械工程, 2006, 17(6): 574-577 |
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| 作者姓名： | 金振林 余跃庆 |
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| 作者单位： | 1. 北京工业大学,北京,100022;燕山大学,秦皇岛,066004
2. 北京工业大学,北京,100022 |
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| 摘 要： | 提出一种新颖的三维平动球平台机器人并分析其位置与工作空间问题。该新型机器人是DELTA机器人的一种变异形式，结合其结构布局特点，建立了其位置正反解方程式，分析其工作空间及其影响因素，为其设计和实用化提供理论依据。该新型机器人运动平台无过约束，在三雏平动微动机器人、并联机床和振动环境模拟台等领域有广阔的应用前景。
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| 关 键 词： | 三维平动并联机器人 球平台机器人 位置分析 工作空间 |
| 文章编号： | 1004-132X（2006）06-0574-04 |
| 收稿时间： | 2005-04-29 |
| 修稿时间： | 2005-04-29 |
On the Position and Workspace of a Novel 3-DOF Translational Spherical Platform Manipulator |
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| Jin Zhenlin,Yu Yueqing. On the Position and Workspace of a Novel 3-DOF Translational Spherical Platform Manipulator[J]. China Mechanical Engineering, 2006, 17(6): 574-577 |
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| Authors: | Jin Zhenlin Yu Yueqing |
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| Affiliation: | 1. Beijing University of Technology, Beijing,100022; 2. Yanshan University, Qinhuangdao, Hebei,066004 |
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| Abstract: | The unique design for a 3-DOF translational spherical platform manipulator was investigated and the displacement and workspace analysis of the spatial manipulator was presented. Its direct and inverse displacement equations were developed explicitly considering its architecture feature. In addition, the workspace shape and volume and the effects on them were studied, which provided theoretical base for optimal design and application of the manipulator. This manipulator has not the demerit of overconstraints. It is particularly suitable for certain applications in 3-DOF micromanipulator, parallel kinematic machine and vibration test desk. |
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| Keywords: | 3- DOF translational parallel manipulator spherical platform manipulator position analysis workspace |
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