六自由度多环路并联型机器人的运动分析

本文研究了多环路并联型机器人运动分析的一种方法。这种方法以列向量的正交性为基础,导出了平台的速度和加速度与关节的独立广义速度和独立广义加速度之间的计算公式。导出了任一构件广义速度和广义加速度计算公式,这种方法可以应用于两类运动学问题的解。最后给出一个数字实例说明。

Kinematic Analysis of Six-DOF Multi-Loop Parallel Robot Manipulators

An efficient method, whick is based on orthogonality of column vectors, is investigated for kinematical analysis of six-degree-of-freedom parallel robot manipulators with revolute joints and prismatic joints. The formulations to determine velocity and acceleration of the end-effector platform, which are expressed directly in terms of the velocities and accelerations of the input actuated joints, are established. The velocity and acceleration formulas for any other links of six-degree-of-freedom parallel manipulators are also derived. The method can be applied to solutions of two classes of kinematic problems. Finally, a numerical example is given for illustration.