【摘要】 对比传统的串联机构码垛机器人，具有平衡能力的混联式多连杆空间机构码垛机器人具有更好的末端负载能力，但是混联机构的自由度分析复杂、约束关系难以判断，为此基于宿主-寄生(H-P)原理，提出一种具有多自由度联动平衡能力的码垛机器人机构。采用虚拟环路法和旋量理论对码垛机器人进行自由度分析，通过实物样机对其自由度进行验证。根据机器人机构的寄生演变特点划分为6种构型，采用宿主-寄生的方式进行自由度分析，并在此基础上完成敏感性分析。结果表明，通过机构反向零自由度寄生的方式，可以实现码垛机器人多自由度的联动平衡，且随着寄生支链的增加，机器人机构的自由度会发生规律性变化。更多还原

【Abstract】 Compared with traditional serial mechanisms, the hybrid multi-link spatial parasitic stacking robot with self-balancing capability exhibits superior end-load performance. However, the hybrid mechanism poses challenges in mobility analysis and constraint determination. To address this, a novel parasitic stacking robot mechanism featuring multi-degree-of-freedom coordinated balancing was proposed based on the host-parasite(H-P) principle. The mobility of the robot mechanism was analyzed by using the virtual-loop method and screw theory, and its degrees of freedom were experimentally verified through a physical prototype. According to the evolutionary characteristics of parasitic mechanisms, six configurations were classified and analyzed under the host-parasite framework, followed by a sensitivity analysis. The results show that by introducing a reverse zero-degree-of-freedom parasitic mechanism, multi-degree-of-freedom coordinated balancing of the robot can be achieved. Moreover, as the number of parasitic branches increases, the mechanism’s mobility changes in a regular manner.更多还原