一种新型五自由度并联运动机械手的综合

IF 0.5 4区工程技术 Q4 ENGINEERING, INDUSTRIAL

South African Journal of Industrial Engineering Pub Date : 2021-05-28 DOI:10.7166/32-1-2382

Wesley Emile Dharmalingum, J. Padayachee, G. Bright

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引用次数: 0

摘要

本文设计和分析了一种新型的五自由度并联机械手，用于零件搬运、分拣、一般定位和机器人加工。2- R(Pa-IQ)RR, R(Pa-IQ)R机械手具有两个旋转自由度，一个寄生旋转自由度和三个平移自由度。与其他五自由度和六自由度PKM相比，该PKM具有三对共面腿，其中包含嵌套的运动链，并且它专门使用了旋转和移动关节。逆运动学分析是对几何(矢量)法的一种新颖的扩展，主要分析内、外运动链。采用Newton Raphson (NR)法进行了正运动学分析。通过SolidWorks®和MATLAB®仿真验证了正运动学和逆运动学分析的结果。

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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SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR

This paper presents the design and analysis of a novel five degrees-of- freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications. The 2- R(Pa-IQ)RR, R(Pa-IQ)R manipulator has two rotational DOFs, one parasitic rotation, and three translational DOFs. In comparison with other 5- and 6- DOF PKMs, this PKM possesses three pairs of coplanar legs that contain nested kinematic chains, and it makes exclusive use of revolute and prismatic joints. The inverse kinematic analysis is a novel extension of the geometric (vector) method with the analysis of inner and outer kinematic chains. The forward kinematic analysis was solved using the Newton Raphson (NR) method. The results of the forward and inverse kinematic analyses were validated with SolidWorks ® and MATLAB ® simulations.

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来源期刊

South African Journal of Industrial Engineering 工程技术-工程：工业

CiteScore

1.10

自引率

20.00%

发文量

审稿时长

6 weeks

期刊介绍： The South African Journal of Industrial Engineering (SAJIE) publishes articles with the emphasis on research, development and application within the fields of Industrial Engineering and Engineering and Technology Management. In this way, it aims to contribute to the further development of these fields of study and to serve as a vehicle for the effective interchange of knowledge, ideas and experience between the research and training oriented institutions and the application oriented industry. Articles on practical applications, original research and meaningful new developments as well as state of the art surveys are encouraged.