| 用于姿态调节的并联机器人设计方法 |
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| 引用本文： | 郭盛,方跃法. 用于姿态调节的并联机器人设计方法[J]. 兵工学报, 2005, 26(5): 656-660 |
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| 作者姓名： | 郭盛 方跃法 |
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| 作者单位： | 北京交通大学,机电学院,北京,100044;北京交通大学,机电学院,北京,100044 |
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| 摘 要： | 提出一种基于反螺旋理论的设计，给出了用于调节姿态的具有3个转动自由度的并联机器人的设计方法。分析了产生平台奇异时3条支链的反螺旋的线性关系。结合这一分析，利用3条支链对平台所提供的特殊约束，彻底避免平台奇异现象。得出设计这一类结构的运动副组成类型和空间放置原则。最后，用这一方法设计几个新的机构作为范例。
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| 关 键 词： | 自动控制技术 并联机器人 反螺旋理论 平台奇异 转动 |
| 文章编号： | 1000-1093（2005）05-0656-05 |
| 收稿时间： | 2004-09-03 |
| 修稿时间： | 2004-09-03 |
A Structural Synthesis Method of Parallel Manipulators for Pose Adjusting |
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| GUO Sheng,FANG Yue-fa. A Structural Synthesis Method of Parallel Manipulators for Pose Adjusting[J]. Acta Armamentarii, 2005, 26(5): 656-660 |
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| Authors: | GUO Sheng FANG Yue-fa |
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| Affiliation: | School of Mechanism Electronics, Beijing Jiaotong University, Beijing 100044, China |
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| Abstract: | Base on a structural synthesis method of the theory of reciprocal screw, the design method of parallel manipulator of 3 rotational DOFs for pose adjusting of radar and other equipment was proposed. Furthermore, the linear relationship of 3 limbs when platform singularities happened was analyzed. With the specific constraints provided by 3 limbs, a construction synthesis method that can completely avoid platform singularities is introduced. Finally, 3 novel manipulators are sketched as design examples. |
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| Keywords: | automatic control technique parallel manipulator theory of reciprocal screw platform singularity rotational motion |
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