一种新型3P6R混联机械臂及其位置分析

提出了一种新型3P6R混联机械臂--平面3自由度串并混联机构,基于这种混联机械臂的结构布局形式,建立了其位置正、反解方程式,并得知其位置正、反解均有唯一封闭解,在满足其结构约束条件的情况下,绘制了其工作空间轮廓图,给出了末端件极限姿态角在工作空间内的分布情况,为这种混联机械臂的实用化提供了理论基础.这种混联机械臂具有工作空间大、刚度大、惯性小和工艺性好等优点,可应用于汽车、造船、航空等现代工业领域.

A kind of new typed 3P6R series parallel connected mechanical arm and its positional analysis

A kind of new typed 3P6R series parallel connected mechanical arm a kind of planar 3 degree of freedom series parallel hybrid mechanism was put forward. On the basis of the form of structural layout of this kind of hybrid mechanical arm, the equations of its positional normal and reverse solutions were established and it has been known that the closed solution of its positional normal and reverse solutions would only have one solution. Under the situation of satisfying its conditions of structural constraint, the pro- file graph of its workspace has been plotted and the distribution cir- cumstances of the limit pose angle of terminal piece within the workspace was presented, thus provided theoretical basis for the practical utilization of this kind of series parallel connected mechanical arm. This kind of hybrid mechanical arm possesses excellences of large workspace, big rigidity, less inertia and good manufacturability etc. , and can be applied to the contemporary industry field of automobile, shipbuilding and aviation etc.