【作者】 高征；

【导师】 高峰；

【作者基本信息】 河北工业大学 ， 机械制造及其自动化， 2006， 博士

【摘要】 由于并联机器人与串联机器人相比具有一些独特的性能，如刚度高、承载能力高、速度快、驱动电机在机架上而使活动构件的质量轻，因此引起了国际上长期的关注，并给予了大量的研究。并联机器人的位置正解一直是一个具有挑战性的问题。 位置正解是根据给出的一组驱动关节变量来确定机构末端的位置和姿态。本文研究了几种新型6自由度少支链并联机构的运动学和奇异位形，主要包括以下几个方面： 1．回顾了并联机构的研究现状和应用，以及正反解和奇异位形的研究现状，论述了本文的研究问题及意义； 2．回顾了并联机构位置正反解研究的数学基础，研究了2-DOF和3-DOF球面并联机构位置正反解问题； 3．研究了带有2自由度并联球面机构的6自由度3支链(3-U~rRS)并联机构的位置正反解问题，得出了正反解的封闭解形式，并对所得结果进行了数值验证； 4．研究了带有2自由度并联球面机构的6自由度3支链(3-U~rPS)并联机构的位置正反解问题，得出了正反解的封闭解形式，并对所得结果进行了数值验证； 5．研究了带有3自由度球面机构的6自由度2支链(2-S~rRU)并联机构的位置正解问题，得出了正反解的封闭解形式； 6．研究了带有3自由度球面机构的6自由度2支链(2-S~rPU)并联机构的位置正解问题，得出了正反解的封闭解形式； 7．研究了6自由度3-U~rRS并联机构的奇异位形； 8．研究了6自由度3-U~rPS并联机构的奇异位形。更多还原

【Abstract】 Corresponding to the serial manipulators, the parallel manipulators have been devoted long-termed attention for some special characters, such as high stiffness, high load capability, high speed, and lower inertia because the motors are fixed to the base. Forward position problem of the parallel manipulators is still a challenging question.The forward kinematic problem consists in finding the set of Cartesian variables corresponding to a prescribed set of joint variables. This dissertation is to study the forward position problem of several new type 6-DOF (6-degree-of-freedom) parallel mechanisms and the main items of the dissertation are as follows:1. The research and applications of parallel mechanisms are reviewed and the work of the kinematics and singularities of the parallel mechanism is also presented, the research points and the significances of the dissertation are discussed.2. The forward and inverse position problems of the 2-DOF and 3-DOF parallel spherical mechanism are studied.3. A new 6-DOF 3-U~rRS parallel mechanism with 2-DOF parallel spherical mechanism is presented and its forward position problem is studied.4. A new 6-DOF 3-U~rPS parallel mechanism with 2-DOF parallel spherical mechanism is presented and its forward position problem is studied.5. A new 6-DOF 2-S~rRU parallel mechanism with 3-DOF parallel spherical mechanism is presented and its forward position problem is studied.6. A new 6-DOF 2-S~rPU parallel mechanism with 3-DOF parallel spherical mechanism is presented and its forward position problem is studied.7. The singularities of the 6-DOF 3-U~rRS parallel mechanism are analyzed.8. The singularities of the 6-DOF 3-U~rPS parallel mechanism are analyzed.更多还原