三个 6-DOF 并联机构的符号位置分析和新见解

IF 1.9 4区计算机科学 Q3 ROBOTICS

Robotica Pub Date : 2024-03-27 DOI:10.1017/s0263574724000432

Zhongqiu Du, Ju Li, Qingmei Meng, Pengda Ye, Huiping Shen

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引用次数: 0

摘要

作者之前的研究表明，具有混合支链（即包含平面或空间环路的支链）的并联机构（PM）可以具有符号前向位置（SFP）解和运动解耦合（MD）。为了进一步研究具有 SFP 和 MD 的三链六自由度（DOF）并联机构的条件，本文提出了一个 6-DOF 支链 A 和两个 5-DOF 支链 B 和 C。结果表明，如果移动平台上某点的位置或方位可以通过混合支链的位置确定，则该 PM 将表现出部分 MD 和 SFP。最后，通过数值实例验证了符号化正解和逆解算法的准确性。这项研究为 6-DOF PM（尤其是具有 SFP 和部分 MD 的 PM）的设计和位置分析带来了新的见解。

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Symbolic position analysis for three 6-DOF parallel mechanisms and new insight

The authors‘ previous research has demonstrated that parallel mechanisms (PMs) with hybrid branch chains (i.e., branch chains containing planar or spatial loops) can possess symbolic forward position (SFP) solutions and motion decoupling (MD). In order to further study the conditions of a three-chain six degrees of freedom (DOF) parallel mechanism with SFP and MD, this paper proposes one 6-DOF branch chain A and two 5-DOF branch chains B and C. Based on these, a class of four 6-DOF PMs with three branch chains is devised. The symbolic position analysis of three of four such PMs is performed consequently, featuring partial MD and SFPs, which reveals that if the position or orientation of a point on the moving platform can be determined by the position of the hybrid branch chain, the PM exhibits partial MD and SFP. Finally, the accuracy of the symbolized forward and inverse solution algorithms is verified through numerical examples. This research brings a new insight into the design and position analysis of 6-DOF PMs, particularly those with SFP and partial MD.

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.