摘要
提出了一种新型五自由度并联机构及其应用前景,该机构由一个具有平行四边形机构的8R分支和四个SPS分支组成,可实现空间的三维移动以及两个独立方向的转动,可用于如部件装配、推拿机器人、空间机构的运动平台等应用场合。文中分析了能实现预定运动输出的机构学原理,计算了它的活动度,采用直观的零位形两步法建立运动变换矩阵,求出了用于实时位置控制的反解,并给出了数值算例,分析了其在推拿机器人设计上的应用前景。
Presents one novel parallel mechanism with 5-DOF and its potential applications,which can perform three translations and two rotations in space,promising many practical applications such as part assembly,massage manipulator,and mobile base for a spatial mechanism.This paper analyzes the mechanical principle of carrying out the desired output motion and the degrees of freedom is determined.A simple zero-pose method with two steps is applied to establish the kinematic transformation matrix and the solutions are developed for inverse kinematics of whose one numerical example is presented.The results of the paper are very useful for the potential design conceive of parallel mechanisms with limbs consist of Hook joints or spherical joints and the application in massage manipulator.
出处
《机械设计与制造》
2004年第4期79-81,共3页
Machinery Design & Manufacture
基金
江苏省自然科学基金(BK2001413)
关键词
机器人
并联机构
位置反解
螺旋
Manipulator
Parallel mechanism
Inverse kinematics
Screw
