| 避免约束奇异的平动并联机器人设计方法 |
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| 引用本文： | 郭盛,方跃法. 避免约束奇异的平动并联机器人设计方法[J]. 兵工学报, 2007, 28(8): 975-980 |
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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,机械与电子控制工程学院,北京,100044;北京交通大学,机械与电子控制工程学院,北京,100044 |
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| 基金项目： | 国家自然科学基金，北京交通大学校科研和教改项目 |
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| 摘 要： | 构造一种基于螺旋理论的空间机构综合方法，分析了并联机器人发生平台约束奇异的原因。利用三条支链对平台所提供的特殊正交约束，得到了一种彻底避免运动平台奇异的纯平动三自由度并联机器人。给出满足这一条件的所有结构组合，运动副组成类型和空间装配原则。最后，依据这一理论设计出2个新型三自由度并联机器人作为范例。
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| 关 键 词： | 机械学 并联机器人 螺旋理论 约束奇异 平动 |
| 文章编号： | 1000-1093（2007）08-0975-06 |
| 修稿时间： | 2006-09-01 |
A Structural Synthesis for a Family of Translation Parallel Manipulators Without Constraint Singularities |
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| GUO Sheng,FANG Yue-fa. A Structural Synthesis for a Family of Translation Parallel Manipulators Without Constraint Singularities[J]. Acta Armamentarii, 2007, 28(8): 975-980 |
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| Authors: | GUO Sheng FANG Yue-fa |
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| Affiliation: | School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044，China |
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| Abstract: | Based on the theory of screws, a kind of synthesis approach for parallel manipulator was presented. The forming reason of platform singularities was investigated. A family of translation 3-DoF parallel manipulators without plateform constraint singularities was obtained by three special orthogonal constrains provided by three limbs. All possible assemblies for the family, the moving joint types and the spatial geometrical conditions were given in the case of no plateform constraint singularities. The two novel manipulators used as examples were designed based on the theory. |
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| Keywords: | mechanics parallel manipulator theory of reciprocal screws constraint singularity translation |
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