| 解耦三轴平面并联操作手的新机构及分析 |
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| 引用本文： | 王玮,沈惠平,邓嘉鸣,丁少华,孟庆梅,马正华,杨廷力.解耦三轴平面并联操作手的新机构及分析[J].机械设计,2012,29(1):44-48. |
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| 作者姓名： | 王玮 沈惠平 邓嘉鸣 丁少华 孟庆梅 马正华 杨廷力 |
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| 作者单位： | 1. 常州大学机器人研究所,江苏常州,213016
2. 常州视觉龙机电设备有限公司,江苏常州,213016 |
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| 基金项目： | 国家自然科学基金资助项目，江苏省重大科技支撑与自主创新资助项目，常州市科技攻关资助项目 |
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| 摘 要： | 为适应大幅面光电产品检测和大型工件操作(加工、焊接、喷涂)时变位姿的需要,提出一种结构简易的3滑块在3个平行导轨上驱动且易实现大工作空间的平面型解耦并联操作手的新型机构,推导了该机构运动学正反解解析公式,计算了末端执行器在定位置和定姿态情况下的工作空间,仿真分析了定姿态时3滑块的运动规律及特性,建立了三维虚拟样机模型,为其物理样机研制、实时控制及工业应用奠定了基础.
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| 关 键 词： | 并联机构 操作手 工作空间 光电检测 |
Novel mechanism for de-coupled 3 DOF planar parallel manipulator and its analysis |
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| WANG Wei
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SHEN Hui-ping
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DENG Jia-ming
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DING Shao-hua
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MENG Qing-mei
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MA Zheng-hua
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YANG Ting-li.Novel mechanism for de-coupled 3 DOF planar parallel manipulator and its analysis[J].Journal of Machine Design,2012,29(1):44-48. |
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| Authors: | WANG Wei SHEN Hui-ping DENG Jia-ming DING Shao-hua MENG Qing-mei MA Zheng-hua YANG Ting-li |
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| Affiliation: | 1(1.Institute of Robotics,Changzhou University,Changzhou 213016,China;2.Changzhou Shijuelong Electromechanical Equipment Co.Ltd.,Changzhou 213016,China) |
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| Abstract: | To adapt the requirement for positions change of large format photoelectric product detection and large workpiece operation(cutting,welding and spraying),a new mechanism of planar de-coupled parallel manipulator that is simple in structure,whose three sliders were driven on three parallel rails,and allows large work space was presented in this paper,its kinematics positive and reverse solution analytical formulas was deducted.The working spaces of the end actuator were calculated when it is in condition of fixed positions and fixed orientations,a three dimension virtual prototype model was established,having laid a foundation for physical prototype development,real time control and industrial application. |
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| Keywords: | parallel mechanism kinematics model working space photoelectric detection |
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