[1]曹毅,陈海,秦友蕾,等.解耦三转动两平移并联机器人机构型综合[J].哈尔滨工程大学学报,2016,37(10):1408-1415.[doi:10.11990/jheu.201509009]
 CAO Yi,CHEN Hai,QIN Youlei,et al.Type synthesis of decoupled three-rotational and two-translational parallel robotic manipulators[J].hebgcdxxb,2016,37(10):1408-1415.[doi:10.11990/jheu.201509009]
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解耦三转动两平移并联机器人机构型综合(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
37
期数:
2016年10期
页码:
1408-1415
栏目:
出版日期:
2016-10-25

文章信息/Info

Title:
Type synthesis of decoupled three-rotational and two-translational parallel robotic manipulators
作者:
曹毅123 陈海13 秦友蕾13 曹浩峰13 周辉13
1. 江南大学 机械工程学院,江苏 无锡 214122;
2. 哈尔滨工业大学 机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150080;
3. 江苏省食品先进制造装备技术重点实验室,江苏 无锡 214122
Author(s):
CAO Yi123 CHEN Hai13 QIN Youlei13 CAO Haofeng13 ZHOU Hui13
1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China
关键词:
型综合|并联机构|支链驱动|螺旋理论
分类号:
TH112
DOI:
10.11990/jheu.201509009
文献标志码:
A
摘要:
为了研究并联机构的运动耦合问题,基于螺旋理论和支链独立驱动原则提出了三转动两平移(3R2T)类解耦并联机构构型综合方法。首先根据期望3R2T解耦并联机构的运动特征(绕XYZ轴方向的转动和沿XY轴方向的移动)和解耦并联机构的正逆雅可比矩阵必为对角阵的要求,利用螺旋理论来构造满足期望形式的正逆雅可比矩阵;其次根据正逆雅可比矩阵所要满足的条件,确定支链驱动副作用于动平台上的使动螺旋,再得到该使动螺旋对应支链上的表示驱动副的驱动螺旋和除驱动螺旋之外的其他运动螺旋系,据此可完成支链结构螺旋系的配置;最后根据并联机构构型原理依次取出五条支链连接动平台和定平台得到并联机构。综合的并联机构具有解耦特性,避免了运动耦合问题,具有一定的应用前景。

参考文献/References:

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备注/Memo

备注/Memo:
 收稿日期:2015-09-02;改回日期:。<br>基金项目:国家自然科学基金项目(50905075);机器人技术与系统国家重点实验室开放基金项目(SKLRS-2016-KF-06);机械系统与振动国家重点实验室开放课题(MSV201407);上海交通大学系统控制与信息处理教育部重点实验室开放基金(SCIP201506).<br>作者简介:曹毅(1974-),男,教授.<br>通讯作者:曹毅,E-mail:caoyi@jiangnan.edu.cn.
更新日期/Last Update: 2016-11-03