平面2自由度冗余驱动并联机构的工作空间

摘要

The problems of research on workspace of planar parallel mechanism were proposed in this paper.Then taking a 2-DOF parallel robot as the research object,this paper painted the 2D map of workspace based on dimensionless parameters and solved the workspace of parallel robot.The functional relationships between structure parameters and workspace shape were built.Afterwards the 2D map of workspace was analysed and the law of workspace influenced by structure size parameters,which provided significant reference for designing mechanism and planning trajectory,was obtained.In addition,the further analysis of workspace of parallel robot was also greatly simplified.%提出研究平面并联机构的工作空间问题,并以2-DOF并联机器人为研究对象,通过建立平面2自由度冗余驱动并联机器人的结构参数与工作空间形状的函数关系,绘出了两者基于无量纲参数的工作空间二维图谱,即求出了该平面并联机器人的工作空间.对工作空间图谱进行分析,得到了结构尺寸参数对工作空间的影响规律,为该并联机器人的机构设计和轨迹规划提供了重要参考,简化了分析并联机器人工作空间的难度.