| 两平移两转动并联机器人机构运动学分析 |
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| 引用本文： | 余顺年,陈扼西.两平移两转动并联机器人机构运动学分析[J].机械工程师,2006(9):33-35. |
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| 作者姓名： | 余顺年 陈扼西 |
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| 作者单位： | 集美大学,机械工程学院,福建,厦门,361021 |
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| 基金项目： | 福建省教育厅科技计划项目 |
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| 摘 要： | 分析了一种两平移两转动并联机器人机构,求出其运动学正解和反解封闭解,讨论了该机构的控制解耦性。与其它类似机构相比,该机构结构简单、位置分析求解容易。同时,设计了一种利用本并联机构的中医推拿串并联机器人,该机器人具有工作空间大,动平台动力性能好等特点。该并联机构还可应用于工业装配机器人、微动机器人、虚拟轴并联机床、多维减振平台等领域。
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| 关 键 词： | 并联机器人 位置分析 解耦性 |
| 文章编号： | 1002-2333(2006)09-0033-03 |
| 收稿时间： | 2006-03-27 |
| 修稿时间： | 2006年3月27日 |
Kinematics Analysis for a Parallel Robot Mechanism with 2 Translational Freedom and 2 Rotational Freedom |
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| YU Shun-nian,CHEN E-xi.Kinematics Analysis for a Parallel Robot Mechanism with 2 Translational Freedom and 2 Rotational Freedom[J].Mechanical Engineer,2006(9):33-35. |
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| Authors: | YU Shun-nian CHEN E-xi |
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| Affiliation: | School of Mechanical Engineering. Jimei University, Xiamen 361021, China |
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| Abstract: | A parallel robot mechanism of two degrees of translationl freedom and two degrees of rotational freedom is investigated. Closed- formed solutions are developed for both the inverse and direct kinematics. The mechanism decouplity is discussed. Compared with the similar mechanisms, the mechanism is not only simple in structure, but also fewer solutions for position analyses. At the same time, a series-parallel manipulator of Chinese massage was designed with the parallel mechanism. The manipulator's workspace was large and the dynamic propertywas favourable. The parallel robot mechanismhas wide application in the fields ofindustrial robots, micromanipulators, virtual axis machine tools, dampingplatforms and etc. |
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| Keywords: | parallel robot mechanism position analysis controlling decouplity |
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