一种新型SCARA并联机构及其运动学分析

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2016-11-01 DOI:10.1109/M2VIP.2016.7827330

H. Yin, Huiping Shen, Tingli Yang, Yunyu Shen

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引用次数: 0

摘要

提出了一种新型的四自由度SCARA型并联机构。首先介绍了四自由度SCARA永磁机构的结构，计算了机构的耦合度k=1，然后采用基于有序SOC单元的建模方法求解了机构的直接位置解。在此基础上，基于反向位置公式对机构工作空间进行了分析。同时，对机构进行了奇异性分析。最后，设计了机械手的三维模型。

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A novel SCARA parallel mechanism and its kinematic analysis

This paper proposes a novel 4-DOF SCARA type parallel mechanism. Firstly, the structure of the 4-DOF SCARA PM is introduced and the coupling degree of the mechanisms is calculated being k=1, Secondly, the direct position solution of mechanism is solved by the modeling methods based on the ordered SOC unit. Furthermore, the workspace of the mechanism is analyzed based on reverse position formula. Meantime, the singularity analysis of the mechanism is also performed. Last, the 3D model of the manipulator is designed.

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来源期刊

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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