基于螺旋理论的3-RPS型并联机器人运动学分析

摘要

3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair. Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints. By applying vector analysis method the normallinverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism. Furthermore ,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.%3-RPS型并联机构具有三个结构对称的支链形式,各支链由一个转动副连接机座、一个球面副与动平台相连接,转动副与球面副由移动副所连接.采用螺旋理论及空间机构构型原理,通过约束形式分析得出该类型并联机器人运动性质,采用矢量分析方法对其运动学正解/反解进行求解,得出该并联机构运动学方程.基于对称非齐次性少自由度并联机构Jacobine矩阵,进一步对该类型并联机器人结构奇异性进行分析与总结.