运动解耦和低耦合度选择顺应性装配机器手臂并联机构的设计及其运动分析

摘要

A new type of motion-decoupling SCARA(selective compliance assembly robot arm) parallel mechanism(PM)with low coupling degree(κ=1)was presented according to topology design theory of parallel mechanism based position and orientation characteristics(POC)equations.Algebraic equations of closed-form direct position were deduced by kinematic modeling based on single-open-chain(SOC),and then solutions for direct position of this PM were solved.Equations of inverse posi-tions were also derived.Finally,workspace,rotation ability and singularity of the PM were analyzed based on the inverse kinematics.%根据基于方位特征集方程的并联机构拓扑结构设计理论,设计出一种运动解耦、低耦合度(κ=1)且具有较大转角的新型选择顺应性装配机器手臂并联机构(RPa3R)2R-2RSS,并对该机构进行拓扑特性分析.基于序单开链运动学建模原理,给出了该机构位置正解封闭解的代数法,同时导出机构位置反解,验证了位置正解的正确性.基于位置反解,对该机构的工作空间、转动能力和奇异性进行了分析.