基于输入组的六自由度解耦并联机器人

串联机器人具有很好的运动解耦性,多数并联机器人各支链间是耦合的。本文基于输入分组的思想,研究了在给定主动输入关节时机器人的输入组解耦问题,使得传统意义上耦合的一类机器人具有了解耦的特征,极大地简化了控制系统设计。最后给出了基于速度雅可比矩阵的判别方法,并将该方法用于分析一种六自由度输入组解耦的并联机器人,表明该矩阵判别法简便而有效。

Six-DOF Decoupled Parallel Robot Based on Input Group

Serial mechanisms have the characteristic of kinematics decoupling,while every branch limbs of most parallel mechanisms are coupled.Based on the idea of input groups,this paper investigates the input group decoupling problem of a parallel robot with given active input joints.This work endows some kinds of traditional coupled parallel robot with characteristics of kinematic decoupling,which will simplify the control system design greatly.A method,which is based on the Jacobian matrix,is presented to examine the decoupling characteristic.An example of a 6-DOF input group decoupled parallel robot is constructed and analyzed by this method.Results show that the method is effective and simple.