摘要
介绍了一种空间3自由度并联机构3-PUU,该机构有动平台、定平台和三个连接支链组成,动平台相对于定平台有2个转动和1个移动。该机构动平台和定平台之间的连接全部由万向铰链完成,结构简单、对称,刚度高,控制简单;P副水平布置,动平台重力由导轨承担,丝杠轴向受力小,刚度好;相对于3-PRS两转一移机构,绕X和Y轴允许摆角;与3-UPU机构相比,工作空间大。文中建立了运动学方程,计算了该机构的自由度,给出了位置解和Jacobi矩阵,进行了奇异性分析,为该机构的应用打下了基础。
A novel 3-PUU parallel mechanism translation and two-dimensional rotations about Z axis is showed,which can performs one-dimensional and X axis. It includes one mobile platform,one base platform and three kinematics chains. It has the advantages of simple symmetric structure and large stiffness ,and is single to control. In the parallel institution,the vice-driven is layed in the level,the mobile platform gravity is committed by the guideways ,the screw axial force is small,good stiffness is taken. Compared to 3-PRS,the larger Swing angle is allowed around X or Y axis. And compared with the 3-UPU,the work space is larger. In this article there is a equation of kinematics ,position key of the equation and Singularity Analysis.
出处
《机械设计与制造》
北大核心
2008年第11期175-177,共3页
Machinery Design & Manufacture
基金
陕西省科技厅攻关项目(2002K06-616)
陕西省教育厅培育项目(2002JC25)
关键词
并联机器人
并联机构
自由度
位置反解
奇异性分析
Parallel robot
Parallel mechanism
Freedom
Inverse position
Singularity analysis
