• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 144-148.

• 论文 • 上一篇    下一篇

一种6自由度冗余驱动并联机器人运动学分析及仿真

张彦斐;宫金良;李为民;高峰   

  1. 北京航空航天大学机器人研究所;燕山大学机械工程学院;河北工业大学机械学院;上海交通大学振动、冲击、噪声国家重点实验室
  • 发布日期:2005-08-15

KINEMATIC ANALYSIS AND SIMULATION OF A 6-DOF REDUNDANT ACTUATION PARALLEL MECHANISM

Zhang Yanfei;Gong Jinliang;Li Weimin;Gao Feng   

  1. Institute of Robotics, Beihang University College of Mechanical Engineering, Yanshan University School of Mechanical Engineering, Hebei University of Technology State Key Laboratory of Vibration, Shock & Noise, Shanghai Jiaotong University
  • Published:2005-08-15

摘要: 提出一种采用自均力驱动模块构造冗余驱动并联机器人的新方法,根据这种方法构造了一种具有10个输入的6自由度冗余驱动并联机器人。对此机器人的运动反解进行了分析,得到了唯一的显式表达。最后用自行研发的六维鼠标对这种机器人进行了运动仿真,验证了反解的正确性。

关键词: 六维鼠标, 冗余驱动, 运动学反解, 冲击载荷, 磁流变缓冲器, 动力学行为, 惯性效应 , 局部损耗

Abstract: Using the interface module of force self-evening, a new method of constituting redundant actuation parallel robots is proposed and based on this method, a 6-DOF parallel robot with 10 actuators is presented. Kinematic of the robot is also analyzed and the only expressions are obtained in an explicit form. Then the kinematics simulation is made by the aid of 6-DOF-mouse which is developed by ourselves and the validity of its kinematics solution is verified.

Key words: 6-DOF-mouse, Inverse kinematics, Redundant actuation, Dynamic behavior, Impact loading, Inertia effect, Minor losses, Magnetorheological energy absorber

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