次6自由度并联机构综合与分析的几何理论

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570560

J. Meng, Guanfeng Liu, Zexiang Li

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引用次数: 30

摘要

本文提出了一种用于分析和综合亚6自由度并联机器人的严密而精确的几何理论。给出了并联机械臂综合问题的严格定义，并介绍了一种确定相应子链的一般方法，这些子链将产生期望的并联机械臂。在此基础上，提出了当期望末端执行器运动集为Lie子群或SE(3)的正则子流形时，求解并联机器人综合问题的方法。通过实例说明了所提出的综合方法的通用性和有效性。

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A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators

This paper presents a rigorous and precise geometric theory for the analysis and synthesis of sub-6 DoF parallel manipulators. We give a rigorous definition for the parallel manipulator synthesis problem, and introduce a general method for specifying the corresponding subchains which will result in the desired parallel manipulator. Following this, a procedure for solving the parallel manipulator synthesis problem is proposed when the set of desired end-effector motions is in the form of Lie subgroup or a regular submanifold of SE(3). Numerous examples are used to illustrate the generality and effectiveness of the proposed synthesis method.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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