摘要
根据并联机器人机构结构综合理论,提出了一种新型的能实现三维转动的空间3-PSS/S三自由度并联机构。该机构的动角台和定角台通过3个具有移动副的PSS约束支链和1个中间球铰连接。动角台为3个棱边互相垂直的正三棱锥,定角台上3个导轨的轴线互相垂直。应用坐标变换法,推导了完全封闭形式的位置正、反解。最后,应用实例验证了理论分析的正确性。
A novel 3-DOF spatial 3-PSS/S parallel manipulator with 3-rotation has been put forward according to the theory of the structure synthesis for parallel robot mechanisms.By means of three constraint kinematical branches of PSS with sliding pairs and one middle global hinge,the moving truncated pyramid is linked to the fixed truncated pyramid of the manipulator.The moving element is the regular pyramid with three perpendicular edges one another,and the three actuator axes of the guide-way on the fixed element are perpendicular one another.The complete closed form formulae of positive and reverse positional solution to the mechanisms are given out based on the coordinates transfer method.Finally,the living example shows that the theoretical analysis is right.
出处
《机械传动》
CSCD
北大核心
2008年第3期15-17,共3页
Journal of Mechanical Transmission
基金
泸州市科技计划项目(200610)
关键词
并联机构
结构分析
位置正解
位置反解
Parallel manipulator Structure analysis Positive positional solution Reverse positional solution
