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J4  2012, Vol. 46 Issue (8): 1345-1359    DOI: 10.3785/j.issn.1008-973X.2012.08.001
机械工程     
并联机构运动学与奇异性研究进展
艾青林, 祖顺江, 胥芳
浙江工业大学 特种装备制造与先进加工技术教育部重点实验室,浙江省
特种装备制造与先进加工技术重点实验室,浙江 杭州 310014
Review of kinematics and singularity of parallel manipulator
AI Qing-lin, ZU Shun-jiang, XU Fang
Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology , Ministry of Education;
Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,
Zhejiang University of Technology, Hangzhou 310014, China
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摘要:

为了发展更多新型结构的并联机器人,克服传统并联机器人工作空间较小、奇异性与运动学正解分析复杂的缺点,针对并联机构运动支链结构形式,将并联机构分为杆支撑并联机构、绳牵引并联机构和钢带并联机构,并介绍了这3种并联机构的运动学原理.针对这3种并联机器人机构形式,从运动位置、工作空间、奇异位形3方面,对国内外并联机器人运动学与奇异性的研究现状进行详细的阐述.分析钢带并联机器人结构与驱动方式的特殊性,对钢带并联机器人在运动过程中由于钢带承载力有限导致失稳所带来的问题进行探讨.结果表明,并联机器人运动学与奇异性的理论研究方法还不成熟,需要从结构设计和理论2方面进行突破才能解决并联机器人发展的瓶颈问题,从而拓宽并联机器人的应用领域.

Abstract:

In order to develop new structure parallel robots and overcome shortcomings of small work space, complicated singularity and forward solution, parallel robot was classed into three types: rigid-link parallel manipulator,wire-driven parallel manipulator and steel band parallel manipulator according to the scalable chain structure. The kinematics principles of the three types of parallel manipulators were introduced. The development of the position analysis,workspace analysis and singularity analysis about those three kinds of parallel manipulators were described in detail.For the special characteristics of structure and driving mode of steel band parallel robot, the problems of instability caused by limited support force of steel band parallel robot in motion were discussed. The results show that research theories and methods of kinematics and singularity of parallel robot are not mature. When the structure and theory of parallel robot have been broken through, the key problems of kinematics and singularity can be resolved, and the application field can be broadened.

出版日期: 2012-09-23
:  TH 123  
基金资助:

 国家自然科学基金资助项目 (50805129);浙江省教育厅重点资助项目 (Z201121137);浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室开放基金资助项目(2010EM003)

作者简介: 艾青林(1976—),男,副教授,主要从事钢带并联机器人,机电一体化技术方面的研究. Email: aiql@zjut.edu.cn
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引用本文:

艾青林, 祖顺江, 胥芳. 并联机构运动学与奇异性研究进展[J]. J4, 2012, 46(8): 1345-1359.

AI Qing-lin, ZU Shun-jiang, XU Fang. Review of kinematics and singularity of parallel manipulator. J4, 2012, 46(8): 1345-1359.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2012.08.001        http://www.zjujournals.com/eng/CN/Y2012/V46/I8/1345

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