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设计提出了一种采用冗余驱动的3PRS/UPS三自由度并联机器人,并建立分析其机构模型.基于螺旋理论,对并联机器人进行运动学分析,通过分别针对机构的驱动和约束建立了雅可比矩阵,最后整合建立了包含冗余驱动在内的全雅可比矩阵.利用虚功原理,结合并联机器人驱动副和约束副的柔度影响,推导得出了机构全刚度矩阵.同时,分析了机构在给定静载荷条件下的变形情况,总结出机构的空间变形分布规律.使用刚度矩阵的最小、最大特征值和运动刚度指标(KSI,Kinematic Stiffness Index)为机构刚度评价指标,对比和分析了引入冗余驱动前后对并联机器人刚度特性分布的影响,得出冗余驱动支链的引入可提高并联机器人特定方向的刚度和改善刚度分布的结论,为冗余驱动并联机器人优化设计和开发应用奠定基础.
A 3PRS / UPS 3-DOF parallel robot with redundancy drive was proposed and its mechanism model was established. Based on the spiral theory, the kinematics of the parallel robot was analyzed. By setting up the Jacobian Matrices, the whole Jacobi matrix with redundant drive is built up finally, and the total stiffness matrix of the mechanism is derived by using the principle of virtual work and the influence of the flexibility of driving pairs and constraint pairs of parallel robots.At the same time, The deformation distribution law of the mechanism was summed up under the given static load condition.The KSI and Kinematic Stiffness Index (KSI) were used to evaluate the stiffness of the mechanism, and compared and analyzed The introduction of the introduction of redundant driving branches can increase the rigidity and improve the stiffness distribution of the parallel robot in a certain direction, which is the basis for the optimal design and development of the redundant driving parallel robot basis.