目的 为分析一种6自由度3P3R接箍自动上下料机械臂的操作性能并实现对其精确运动控制.方法 采用Kane方法和旋量理论分析方法建立了机器人的操作臂运动学和动力学模型,利用该模型,针对原理样机的具体结构,应用Mathematica平台研究了机械臂的操作性能.结果 得到在一定作业任务规划下,末端执行器的位姿变化规律,以及按照该规划轨迹运动时各关节的驱动力；结论 3自由度普通汇交RBR型腕部结构,具有足够灵活性,可以满足诸多地表附近的作业任务.整体上,机械臂具有较高的承载能力和灵活性,能够满接箍自动上下料的作业要求.结合了Kane方法和旋量理论的动力学模型具有准确、简单、有效等特点,能够满足机械臂的运动学动力学分析的要求,为机械臂的设计改进和精确运动控制实施奠定了理论基础.%As the quick increase of the automatic requirement for the coupling processing lines,the automatic feeding and unloading 6-DOF 3P3R manipulator for coupling processing machine was designed. The kinematics and dynamics of the manipulator were analyzed,such as,operating performance and accurately motion control acquired. The Kane's method and screw theory were applied to set up the kinematic and dynamic models,respectively. Then,in accordance with the models for the manipulator,and the structure of the prototype robot manipulator. The operating performance of the manipulator was studied in the mathematical environment. The orientation variation of the end-effectors and all joint driven torques of the system were obtained according to the planning motion. The result indicated that the correctness, simplicity and validity of the model is verified. Therefore,the dynamic requirements of the manipulator are satisfied with high dexterity. And this research established a foundation for trajectory planning and accurately motion control.
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