• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (7): 39-46.doi: 10.3901/JME.2017.07.039

• 机构学及机器人 • 上一篇    下一篇

双输出3D打印解耦并联机器人的设计与分析*

常定勇, 方跃法, 叶伟   

  1. 北京交通大学机器人研究中心 北京 100044
  • 出版日期:2017-04-05 发布日期:2017-04-05
  • 作者简介:

    常定勇,男,1988年出生。主要研究方向为3D打印并联机器人,机构学。

    E-mail:11121430@bjtu.edu.cn

    方跃法(通信作者),男,1958年出生,博士,教授,博士研究生导师。主要研究方向为机构学,机器人学。

    E-mail:yffang@bjtu.edu.cn

    E-mail:10116304@bjtu.edu.cn

  • 基金资助:
    * 国家自然科学基金资助项目(51675037, 51505023); 20160410收到初稿,20170117收到修改稿;

Design and Analysis of a Double Output 3D Printing Decoupling Parallel Manipulator

CHANG Dingyong, FANG Yuefa, YE Wei   

  1. Research Center of Robot, Beijing Jiaotong University, Beijing 100044
  • Online:2017-04-05 Published:2017-04-05

摘要:

提出一种新型1PRRR/3PRRRR四自由度3T1R并联机构。基于这种并联机构,设计一种具有两个输出的3D打印并联机器人。该机器人机构对称布置的运动支链共用驱动,具有两个运动完全一致的末端执行器。分析这种新型并联机构的自由度,运动学反解,雅可比矩阵,耦合性及奇异性,有利于优化选择3D打印机器人机构的结构参数。最后对3D打印机器人机构进行运动学仿真试验。结果表明,该机构动平台具有较大的转动角度,3D打印机器人能够在倾斜角较大的平面上打印,为进一步实现设计的3D打印机器人的控制提供依据。

关键词: 并联机构, 大转角, 雅可比矩阵, 3D打印机器人

Abstract:

A new type of 1PRRR/3PRRRR 3T1R parallel mechanism with four degrees-of-freedom is proposed, and a double output 3D printing robot is designed based on this parallel mechanism. The robot mechanism, which has two end effectors with a completely common motion, has symmetrically arranged legs that shared a common actuator. Analyzing the degrees-of-freedom, inverse kinematics, Jacobian matrix, coupling and singularity of this new parallel mechanism have a great contribution to select the optimal parameters of this 3D printing robot mechanism. Finally, the kinematics simulation experiment of the 3D printing robot model is carried out. The results show that the moving platform of the proposed mechanism has large rotational angles, and the 3D printing robot has the ability to print on the plane with large angles, which provides foundation for controlling the designed 3D printing robot.

Key words: Jacobian matrix, large rotational angles, parallel manipulator, 3D printing robot