3-P-2SS球平台机器人的运动传递性分析

金振林; 李研彪

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3-P-2SS球平台机器人的运动传递性分析

微纳技术与精密机械 | 更新时间：2020-08-12

- 3-P-2SS球平台机器人的运动传递性分析
- Kinematic transmission property of a novel 3-P-2SS spherical platform manipulator
- 光学精密工程 2006年14卷第4期页码：658-661
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 北京工业大学机械工程与应用电子技术学院,北京 100022
- 作者简介：
- 基金信息：
  
  中国博士后科学基金(No.2005037034)。()
- DOI：
  中图分类号： TP242.6
- 收稿日期：2005-12-12，
  
  修回日期：2006-07-18，
  
  纸质出版日期：2006
- 稿件说明：
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金振林, 李研彪. 3-P-2SS球平台机器人的运动传递性分析[J]. 光学精密工程, 2006,14(4): 658-661

JIN Zhen-lin, LI Yan-biao. Kinematic transmission property of a novel 3-P-2SS spherical platform manipulator[J]. Editorial Office of Optics and Precision Engineering, 2006,14(4): 658-661
金振林, 李研彪. 3-P-2SS球平台机器人的运动传递性分析[J]. 光学精密工程, 2006,14(4): 658-661 DOI：

JIN Zhen-lin, LI Yan-biao. Kinematic transmission property of a novel 3-P-2SS spherical platform manipulator[J]. Editorial Office of Optics and Precision Engineering, 2006,14(4): 658-661 DOI：

摘要

研究了一种新型的3自由度3-P-2SS球平台机器人的运动传递性及其在工作空间的分布规律。该机器人在坐标原点具有最佳的运动传递性能

介绍其正交的结构布局特点

基于其位置反解推导运动学传递方程

定义其沿

x、y和z

方向的运动传递能力评价指标

给出这些评价指标在工作空间内的分布情况

这对该种球平台机器人的合理任务规划很有帮助。

Abstract

The kinematic transmission property and distributions in work space of a novel 3-DOF 3-P-2SS spherical platform manipulator whose optimum kinematic transmission property is at the origin position were given. The orthogonal layout feature of the parallel manipulator is described and its kinematic transmission equations are developed based on its inverse displacement equations. The kinematic transmission indices of a 3-DOF 3-P-2SS spherical platform in direction of

x、y

and

are defined

respectively

so that the distributions of the indices in work space are given

which is significant for task planning of the manipulator.

关键词

Keywords

references

CLAVEL R. Device for the movement and positioning of an element in space . US Patent No.4976582, 1990.[2] CHABLAT D, WENGER P. An interval analysis based study for the design and the comparison of three-degrees-of-freedom parallel kinematic machines[J]. International Journal of Robotics Research, 2004 ,23(6): 615-624.[3] HUANG T, ZHAO X Y, ZHOU L H. Stiffness estimation of a parallel kinematic machine[J]. Science in China,Ser.E, 2001(44):474-485.[4] DI G R.On the direct problem singularities of a class of 3-DOF parallel manipulators[J]. Robotica, 2004,22(4) 389-394.[5] COMPANY O, PIERROT F. Modelling and design issues of a 3-axis paralle machine tool[J]. Mechanism and Machine Theory, 2002,37(11):1325-1345.[6] 毕树生,宗光华. Delta并联微操作手运动学的矢量法分析[J]. 北京航空航天大学学报,2003,29(4):340-343. BI SH SH, ZONG G H. Analysis of kinematics of Delta parallel micromanipulator with vector space method[J].Journal of Beijing University of Aeronautics and Astronautics, 2003,29(4):340-343.(in Chinese)[7] 金振林,高峰. 三自由度机械式振动环境试验平台 . 中国发明专利: 200410100962.0, 2004. JIN ZH L,GAO F .3-DOF mechanical vibration test desk . China Patent,No. 200410100962.0, 2004.(in Chinese)[8] 金振林,高峰. 6-SPS球平台并联机器人及其局部力和速度传递性分析[J]. 光学精密工程. 2001,9(1):63-66. JIN ZH L,GAO F. A 6-SPS spherical platform parallel robotic mechanism and analysis of its local properties of force and motion transmission[J].Optics and Precision Engineering, 2001,9(1):63-66.(in Chinese)

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