摘要
针对TPS型并联机械手的设计问题,提出一种退化结构:在三自由度并联机构基础上,采用退化结构对动平台的X、Y两方向进行约束,得到新型的具有3R1T四自由度的TPS型并联机构,并在该机构基础上,采用了螺旋理论对其运动特性进行分析,进一步给出了该类型机构的正解、反解位置特性。结果表明:该机构具有计算简单、易实现实时控制等特点,为该类型机构进一步深入研究打下基础。
In allusion to design for type of TPS, a parallel manipulator with four freedom, we bring forward a degenerate structural: base on the parallel connection mechanical with 3 freedom degree, adopt the degenerate structural to restrict the moving platform with its x、y direction, then we can get a new type TPS parallel connection mechanical, with the screw theory, we analysis its sport characteristic, and bring up its characteristic of positive solution & reverse solution. Result indicate: this type of mechanical has simple calculation and easy to control online, this research will be helpful for the future research on this parallel connection manipulator.
出处
《机电产品开发与创新》
2005年第2期6-8,共3页
Development & Innovation of Machinery & Electrical Products
关键词
TPS
并联机器人
螺旋理论
位置分析
TPS
parallel manipulator
screw theory
displacement analysis
