可变向多地形移动全<strong>R</strong>副并联机器人

可变向多地形移动全R副并联机器人

张春燕,江毅文,杨杰,蒋新星

Variable-direction multi-terrain mobile full R pair parallel robot

Chunyan ZHANG,Yiwen JIANG,Jie YANG,Xinxing JIANG

表1 不同运动模式下可变向多地形移动全R副并联机构的自由度分析

Table 1 DOF analysis of variable-direction multi-terrain mobile full R pair parallel mechanism under different motion modes

运动模式	运动旋量	约束旋量	自由度
可变向滚动	$\begin{array}{l} $_{12} = (0 1 0; a_{2} 0 c_{2}) \\ $_{13} = (1 0 0; 0 b_{3} c_{3}) \\ $_{14} = (1 0 0; 0 0 c_{4}) \\ $_{15} = (0 1 0; 0 0 c_{5}) \end{array}$	$\begin{array}{l} $_{11}^{r} = (0 0 0; 0 0 1) \\ $_{12}^{r} = (a_{6} 0 1; b_{6} c_{6} 0) \end{array}$	2
变宽度滚动	$\{\begin{array}{l} $_{11} = (0 0 1; a_{1} 0 0) \\ $_{12} = (0 1 0; a_{2} 0 c_{2}) \\ $_{13} = (1 0 0; 0 b_{3} c_{3}) \\ $_{14} = (1 0 0; 0 0 c_{4}) \\ $_{15} = (0 1 0; 0 0 c_{5}) \\ $_{16} = (0 0 1; 0 0 0) \end{array}$	无	6
跨越式滚动	$\{\begin{array}{l} $_{11} = (0 0 1; 0 0 0) \\ $_{16} = (0 0 1; 0 0 0) \end{array}$	$\{\begin{array}{l} $_{11}^{r} = (1 0 0; 0 0 0) \\ $_{12}^{r} = (0 1 0; 0 0 0) \\ $_{13}^{r} = (0 0 1; 0 0 0) \\ $_{14}^{r} = (0 0 0; 1 0 0) \\ $_{15}^{r} = (0 0 0; 0 1 0) \end{array}$	4
低重心滚动	$\{\begin{array}{l} $_{11} = (0 0 1; 0 0 0) \\ $_{16} = (0 0 1; 0 0 0) \end{array}$	$\{\begin{array}{l} $_{11}^{r} = (1 0 0; 0 0 0) \\ $_{12}^{r} = (0 1 0; 0 0 0) \\ $_{13}^{r} = (0 0 1; 0 0 0) \\ $_{14}^{r} = (0 0 0; 1 0 0) \\ $_{15}^{r} = (0 0 0; 0 1 0) \end{array}$	4