• CN:11-2187/TH
  • ISSN:0577-6686

›› 2010, Vol. 46 ›› Issue (3): 35-41.

• 论文 • 上一篇    下一篇

4-RUPaR并联机器人机构及其运动学分析

车林仙   

  1. 中国矿业大学机电工程学院;泸州职业技术学院机电工程研究所
  • 发布日期:2010-02-05

4-RUPaR Parallel Robot Mechanisms and Their Kinematics Analysis

CHE Linxian   

  1. School of Mechanical & Electrical Engineering, China University of Mining and Technology Institute of Mechatronics Engineering, Luzhou Vocational and Technical College
  • Published:2010-02-05

摘要: 提出一种能实现三维移动和绕z轴转动(3T1R)的新型对称4-DOF空间4-RUPaR并联机器人机构。采用螺旋理论分析4-RUPaR并联机器人机构实现空间3T1R运动的机构学原理,计算其自由度,讨论输入选取的合理性。以机构的杆长为约束条件,建立约束方程,得到位置分析的非线性方程组。推导机构位置正解的一元超越方程,并应用自适应变异粒子群算法(Adaptive mutation particle swarm optimization, AMPSO)求解该方程。导出位置反解的封闭方程及速度、加速度的表达式。最后应用算例对位置正反解的研究结果进行数值验证,正解结果与反解结果十分吻合。在位置正解分析的基础上,对算例的速度和加速度正解进行分析。

关键词: 并联机器人机构, 螺旋理论, 位置正解分析, 运动学分析

Abstract: A novel 4-DOF spatial and symmetrical 4-RUPaR parallel robot mechanism that can perform three-dimensional translations and rotation about z axis (3T1R) is presented. The principles that the mechanism can perform the above motions are analyzed by using screw theory, the degree of freedom of the mechanism is calculated, and the rationality of chosen input is discussed. The link-length of the mechanism is taken as the constraint condition to obtain the constraint equations, and nonlinear equations of position analysis are obtained. A unary transcendental equation for positive position analysis of the mechanism is deduced, and the adaptive mutation particle swarm optimization (AMPSO) algorithm is utilized to solve this equation. The closed equation of inverse solution of position and the expressions of velocity and acceleration are deduced. At last, numerical verification of the results of forward and inverse solutions is carried out. The result of forward solution is quite coincident with that of inverse solution. On the basis of the forward position solution analysis, forward solutions of velocity and acceleration of the example are analyzed.

Key words: Forward position solution analysis, Kinematics analysis, Parallel robot mechanism, Screw theory

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