| 空间转动型3-SPS/S并联机器人的构型设计分析 |
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| 引用本文： | 崔国华,张艳伟,张英爽,郝万军.空间转动型3-SPS/S并联机器人的构型设计分析[J].吉林大学学报(工学版),2009(Z1). |
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| 作者姓名： | 崔国华 张艳伟 张英爽 郝万军 |
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| 摘 要： | 根据盾构管片安装机器人拼装隧道管片时位姿调整的需要,运用系统枚举法构造了空间纯转动型3-SPS/S并联机构作为管片安装机器人的位姿调整机构,在对该机构进行位置、速度求解的基础上建立了机构的雅可比矩阵,提出并采用可操作度指标对机构的运动特性进行了分析研究。结果表明,该三维转动型并联机构能够实现管片姿态调整的运动要求,具有良好的可操纵性。
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| 关 键 词： | 仪器仪表技术 盾构管片安装机器人 并联机构 构型设计 雅可比矩阵 奇异形位 |
Configuration design and analysis of a new 3-SPS/S spatial rotation parallel manipulator |
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| Abstract: | Based on the analyses of the demand of segment assembly robot for shield machine,a 3-DOF rotation parallel manipulator with 3-SPS actuated legs and one passive leg was constructed by using systematic enumeration approach.The inverse displacement and velocity kinematics of the manipulator were derived and the corresponding Jacobian matrix were analyzed.Then the operation degree was used to research its kinematical performance.The results indicate that the proposed manipulator can meet the demand of segment assembly robot for shield machine with good maneuverability. |
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| Keywords: | technology of instrument and meter segment assembly robot of shield parallel manipulator configuration design Jacobian matrix singular configure |
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