Structure synthesis of fully-isotropic 3- DoF planar parallel manipulators

ZHANG Yan-bin; WANG Hui-ping; WU Xin

doi:10.3788/OPE.20122003.0579

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Structure synthesis of fully-isotropic 3- DoF planar parallel manipulators

Article | 更新时间：2020-08-12

- Structure synthesis of fully-isotropic 3- DoF planar parallel manipulators
- Optics and Precision Engineering Vol. 20, Issue 3, Pages: 579-586(2012)
- 作者机构：
  
  1. 河南科技大学规划与建筑工程学院, 河南洛阳 471003
  2. 河南科技大学机电工程学院,河南洛阳,471003
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122003.0579
  CLC： TH112;TP242
- Received：26 August 2011，
  
  Revised：27 October 2011，
  
  Published Online：22 March 2012，
  
  Published：22 March 2012
- 稿件说明：
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张彦斌, 王慧萍, 吴鑫. 完全各向同性3自由度平面并联机构的型综合[J]. 光学精密工程, 2012,(3): 579-586

ZHANG Yan-bin, WANG Hui-ping, WU Xin. Structure synthesis of fully-isotropic 3- DoF planar parallel manipulators[J]. Editorial Office of Optics and Precision Engineering, 2012,(3): 579-586
张彦斌, 王慧萍, 吴鑫. 完全各向同性3自由度平面并联机构的型综合[J]. 光学精密工程, 2012,(3): 579-586 DOI： 10.3788/OPE.20122003.0579.

ZHANG Yan-bin, WANG Hui-ping, WU Xin. Structure synthesis of fully-isotropic 3- DoF planar parallel manipulators[J]. Editorial Office of Optics and Precision Engineering, 2012,(3): 579-586 DOI： 10.3788/OPE.20122003.0579.

摘要

提出了完全各向同性3自由度平面并联机构型综合的系统方法。首先

根据螺旋理论讨论了完全各向同性平面并联机构的运动学必要条件。然后

基于机构各分支对动平台控制功能的不同

通过互易螺旋理论推导出各分支的驱动螺旋、主动螺旋和可动非主动螺旋

并按照分支连接度的不同列举出所有可行的分支运动链。最后

按照机构各分支相应的装配条件

选取所综合出的3条分支运动链将动平台和静平台连接起来得到预期的机构

共得到新型机构3 167种。由于综合出的并联机器人机构的运动雅可比矩阵均为单位阵

即条件数恒为1

因此这类机构具有良好的运动学和力传递性能

在工业机器人、微操作机器人和医用机器人等领域具有潜在的应用前景。

Abstract

A systemic approach to the structure synthesis of fully-isotropic three degree-of-freedom(DoF) planar parallel manipulators was presented. Firstly

the necessary conditions for designing fully-isotropic planar parallel manipulators were discussed by use of the screw theory. Based on the different control functions of each limb for the moving platforms

the actuation screw

actuated screw and mobile unactuated screws of every limb were derived in terms of the reciprocal screw theory. Then

all possible limbs were enumerated according to the different connectivity numbers of the kinematic chain. Finally

the desired manipulators

including 3 167 new types

were obtained by connecting the moving platform to the fixed base by using three limbs according to some assembling conditions. Each kinematic Jacobian of these manipulators is an identical matrix and their conditioning numbers are all equal to 1

so the manipulators can offer very good motion and force transmissions

and show prospective applications in industrial robots

micro-manipulating robots

and medical robots.

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references

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