杨继东,万彪刚,高俊东,刘昆,胡敏,赵叶轮.Tripod并联机器人运动学分析与样机实验[J].农业机械学报,2016,47(10):390-397.
Yang Jidong,Wan Biaogang,Gao Jundong,Liu Kun,Hu Min,Zhao Yelun.Kinematic Analysis and Experiment of Tripod Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(10):390-397.
摘要点击次数: 864
全文下载次数: 434
Tripod并联机器人运动学分析与样机实验   [下载全文]
Kinematic Analysis and Experiment of Tripod Parallel Robot   [Download Pdf][in English]
投稿时间:2016-06-22  
DOI:10.6041/j.issn.1000-1298.2016.10.051
中文关键词:  并联机器人  3自由度  运动学分析  工作空间
基金项目:国家自然科学基金项目(51375507)
作者单位
杨继东 重庆大学 
万彪刚 重庆大学 
高俊东 重庆大学 
刘昆 重庆大学 
胡敏 重庆大学 
赵叶轮 重庆大学 
中文摘要:对Tripod并联机器人进行了运动学分析,计算了机构自由度,采用矢量代数法和数值法求出了运动学位置逆解和位置正解。利用Jacobian矩阵的条件数对其进行了运动性能评价,分析了其可达工作空间。计算结果表明该机构具有优越的各向同性性能和广阔的可达工作空间。通过ADAMS和Matlab运动学仿真软件对正解和逆解分别进行了验证。仿真实验结果证明了所建模型的正确性。并对Tripod并联机器人样机进行了精确定位实验、直线插补实验和圆弧插补实验,实验证明机构所建数学模型的正确性。
Yang Jidong  Wan Biaogang  Gao Jundong  Liu Kun  Hu Min  Zhao Yelun
Chongqing University,Chongqing University,Chongqing University,Chongqing University,Chongqing University and Chongqing University
Key Words:parallel robot  3-DOF  kinematic analysis  workspace
Abstract:Because of parallel mechanism has high rigidity, high speed, high carrying capacity, and not cumulative error, etc., it has been widely used in many fields. Especially less degrees of freedom parallel mechanism has become a hot research topic. The inverse and forward position model of Tripod parallel robot was established, through kinematic analysis of the Tripod parallel robot, the degree of freedom was derived. The inverse kinematics and forward kinematics were solved by using algebraic vector method and numerical method. The condition number of Jacobian matrix was derived and the workspace was analyzed. The calculation result showed that the mechanism owned perfect isotropic properties and specious workspace. ADAMS and Matlab kinematics simulation software were used to verify the inverse and forward position model of this mechanism. The simulation results proved the correctness of the model. A model machine of Tripod parallel robot was developed and a series of experiments, such as accurate positioning, line/circle interpolation, continuous interpolation, were carried out. The results suggested that the mathematical model established for this parallel mechanism was correct. The research systemically solved the problem of theoretical analysis of Tripod parallel robot, set up the experimental prototype, and provided strong guidance for the engineering application.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器