摘要
提出了一种新型6自由度2支链并联机构:2-S*RU;其中S*为3自由度球面机构,为复合球铰,R为转动副,U为虎克铰。采用余弦矩阵方法得出了该并联机构的位置正反解的封闭解形式,其中正解的最终方程为一元4次方的多项式。采用余弦矩阵的优点是:第一,与欧拉角不同,方向余弦矩阵不会有任何有代表性的奇异位形。第二,在计算过程中不会出现三角函数,提高了计算效率。该机构可应用于机器人手臂,结构简单紧凑,易于实现模块化。
A new 6-DOF （degree of freedom） parallel mechanism with 2 limbs, namely 2-S＊ RU, is presented; the Sr joint is a 3-DOF spherical mechanism, considered as a composite spherical joint, R is the revolute joint and U is the universal joint. The closed-form solutions of the forward solution is a 4^th border polynomial. The two reasons for using the directional cosine matrix to represent the orientation are： first, unlik the Euler angles, such a matrix has no any representative singularities; second, there are no trigonometrical functions involved in the computation, Which means good computational efficiency. The new mechanism presented here can be used for robot arm; it has compact structure and can be easily modularized.
出处
《机械设计与研究》
CSCD
北大核心
2006年第5期45-48,共4页
Machine Design And Research
基金
国家杰出青年基金资助项目(50125516)
关键词
并联机构
运动学
封闭解
正反解
parallel mechanism
kinematics
closed-form solution
direct and inverse solution
