本文關(guān)鍵詞： 弱耦合 并聯(lián)機(jī)械 三平移 運(yùn)動(dòng)學(xué)分析　出處：《中國(guó)機(jī)械工程》2017年13期 　論文類型：期刊論文

【摘要】：提出一種弱耦合2RRP_aR+PP_aP三平移操作機(jī)器人機(jī)構(gòu),分析了機(jī)構(gòu)的自由度及拓?fù)浣Y(jié)構(gòu)特征;推導(dǎo)了機(jī)構(gòu)的正逆解方程以及速度、加速度模型,根據(jù)速度雅可比矩陣,分析了機(jī)構(gòu)的奇異位置;根據(jù)機(jī)構(gòu)的逆解方程和主要約束,采用三維極坐標(biāo)邊界搜索法繪制了機(jī)構(gòu)的工作空間三維實(shí)體圖和截面圖;由ADAMS三維模型仿真和運(yùn)動(dòng)正解方程計(jì)算所得的位移、速度、加速度曲線基本一致,驗(yàn)證了運(yùn)動(dòng)方程的正確性。該機(jī)構(gòu)解耦性好、結(jié)構(gòu)簡(jiǎn)單、運(yùn)動(dòng)靈活,在縱向移動(dòng)方向上具有部分解耦和工作空間大的優(yōu)點(diǎn),適合用作生產(chǎn)線自動(dòng)操作手機(jī)構(gòu)。
[Abstract]:This paper presents a weakly coupled 2RRP AR PP_aP three-translation robot mechanism, analyzes the degree of freedom and topological structure of the mechanism, deduces the forward and inverse equations of the mechanism and the model of velocity and acceleration, according to the Jacobian matrix of velocity, According to the inverse solution equation and the main constraints of the mechanism, three-dimensional polar coordinate boundary search method is used to draw the three-dimensional entity map and section diagram of the mechanism. The displacement, velocity and acceleration curves calculated by the ADAMS 3D model simulation and the forward kinematic equation are basically consistent, which verifies the correctness of the motion equation. The mechanism has the advantages of good decoupling, simple structure and flexible motion. Due to its advantages of partial decoupling and large workspace, it is suitable for automatic operation of mobile phone in production line.
【作者單位】： 常州大學(xué)機(jī)械工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51075045) 江蘇省自然科學(xué)基金資助項(xiàng)目(BK20161192) 江蘇省產(chǎn)學(xué)研前瞻項(xiàng)目(BY2015027-24)
【分類號(hào)】：TH112;TP242

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本文編號(hào)：1550544