纯平移完全解耦并联机械臂的运动学分析

2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2020-09-01 DOI:10.1109/CACRE50138.2020.9229908

Qi Zou, Dan Zhang, Shuo Zhang, Xueling Luo

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引用次数: 0

摘要

提出了一种空间三自由度并联机构。它在每条运动链中只包含Pa关节和转动关节。利用螺旋理论对运动平台的运动进行了验证。利用简单的固有几何关系求解正、逆位置和完全解耦性质。利用雅可比矩阵求出其奇异位形。通过考虑关节和连杆机构的限制，得到并验证了平移工作空间。

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Kinematic analysis of a fully-decoupled parallel manipulator with pure translations

A spatial 3 degree-of-freedom parallel mechanism is proposed in this paper. It contains only Pa joint and revolute joints in each kinematic chain. The motion of the moving platform is verified by means of the theory of screw. The simple and intrinsic geometric relations are employed to solve both the inverse and forward positions and fully-decoupled property. Its singularity configurations are found by using the Jacobian matrix. The translational workspace is obtained and verified through considering joints and linkages limitations.

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2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)

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