| 4-RUP_aR并联机器人机构及其运动学分析 |
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| 引用本文： | 车林仙. 4-RUP_aR并联机器人机构及其运动学分析[J]. 机械工程学报, 2010, 46(3). DOI: 10.3901/JME.2010.03.035 |
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| 作者姓名： | 车林仙 |
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| 作者单位： | 中国矿业大学机电工程学院,徐州,221008;泸州职业技术学院机电工程研究所 泸州 646005 |
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| 基金项目： | 四川省应用基础研究计划(2008JY0163);;泸州市重点科技计划(2008-S1-17);;泸州职业技术学院科研基金(K-0502)资助项目 |
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| 摘 要： | 提出一种能实现三维移动和绕z轴转动(3T1R)的新型对称4-DOF空间4-RUPaR并联机器人机构。采用螺旋理论分析4-RUPaR并联机器人机构实现空间3T1R运动的机构学原理,计算其自由度,讨论输入选取的合理性。以机构的杆长为约束条件,建立约束方程,得到位置分析的非线性方程组。推导机构位置正解的一元超越方程,并应用自适应变异粒子群算法(Adaptive mutation particle swarm optimization,AMPSO)求解该方程。导出位置反解的封闭方程及速度、加速度的表达式。最后应用算例对位置正反解的研究结果进行数值验证,正解结果与反解结果十分吻合。在位置正解分析的基础上,对算例的速度和加速度正解进行分析。
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| 关 键 词： | 并联机器人机构 螺旋理论 位置正解分析 运动学分析 |
4-RUPaR Parallel Robot Mechanisms and Their Kinematics Analysis |
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| CHE Linxian. 4-RUPaR Parallel Robot Mechanisms and Their Kinematics Analysis[J]. Chinese Journal of Mechanical Engineering, 2010, 46(3). DOI: 10.3901/JME.2010.03.035 |
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| Authors: | CHE Linxian |
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| Affiliation: | 1. School of Mechanical & Electrical Engineering/a>;China University of Mining and Technology/a>;Xuzhou 221008/a>;2. Institute of Mechatronics Engineering/a>;Luzhou Vocational and Technical College/a>;Luzhou 646005 |
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| Abstract: | A novel 4-DOF spatial and symmetrical 4-RUPaR parallel robot mechanism that can perform three-dimensional translations and rotation about z axis (3T1R) is presented. The principles that the mechanism can perform the above motions are analyzed by using screw theory, the degree of freedom of the mechanism is calculated, and the rationality of chosen input is discussed. The link-length of the mechanism is taken as the constraint condition to obtain the constraint equations, and nonlinear equations of position ... |
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| Keywords: | Parallel robot mechanism Screw theory Forward position solution analysis Kinematics analysis |
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