六自由度空间并联机器人的研制

JSME international journal. Series 3, Vibration, control engineering, engineering for industry Pub Date : 1991-09-15 DOI:10.1299/JSMEC1988.34.382

H. Funabashi, M. Horie, T. Kubota, Y. Takeda

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引用次数: 9

摘要

本文对空间6自由度并联机器人的运动结构进行了数值综合，得到了由1、2和/或3自由度对组成的无运动闭环多环机构的运动结构。对于所得到的简单实用的机械臂，即由六臂组成的并联机械臂，每臂有三个转动副和一个球面副，导出了逆运动学和正运动学的解析方程，并讨论了机械臂构型不能定义的奇异位置。此外，考虑球面副的允许压力角和最大摆动角，研究了机械手的工作空间与参数之间的关系，表明该机械手比Stewart平台具有更大的垂直运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of Spatial Parallel Manipulators with Six Degrees of Freedom

In the present paper, kinematic structures of spatial 6-degree-of-freedom (dof) parallel manipulators are obtained by a number synthesis of multiloop linkages which consist of pairs with 1, 2 and/or 3 dof and have no moving closed loops. Concerning simple and practical manipulators among the obtained ones, that is, concerning the parallel manipulator consisting of six arms, each of which has three revolute pairs and a spheric pair, analytical equations for inverse and direct kinematics are derived and singular positions where the configurations of the manipulator cannot be defined are discussed. Moreover, taking account of allowable pressure angles and maximum swing angles of spheric pairs, the relation between the working space and parameters of the manipulator is investigated, revealing that the manipulator can operate with larger vertical motions than the Stewart Platform.

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来源期刊

JSME international journal. Series 3, Vibration, control engineering, engineering for industry

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