【摘要】 针对工业生产中工件搬运和分拣的作业需求，基于方位特征(Position and Orientation Characteristic, POC)方程的并联机器人拓扑设计方法，设计了4种具有可避免机械碰撞、支链结构简单特点的两平移一转动(Two Translations and One Rotation, 2T1R)并联机器人机构。对机构的主要拓扑特征(POC、自由度、耦合度)进行了分析，以其中转动副轴线垂直于Z轴的两个2T1R并联机器人机构为例展开了研究，基于拓扑特征运动学建模原理对其进行了运动学方程建模，推导得到了位置正解和位置逆解符号解，同时对位置逆解进行了数值算例仿真验证，通过雅可比矩阵分析了并联机器人机构的三类奇异位置。然后，研究了并联机器人机构的工作空间、转动能力及灵巧度等性能指标。最后，分析了结构尺寸参数对工作空间和转动能力指标的影响趋势，并完成了机构应用场景设计。仿真分析结果表明，和构型1相比，相同参数下构型2的工作空间、转动能力及灵巧度性能更优；同时，构型1转动能力和工作空间体积能同时取较大的值，而构型2转动能力和工作空间体积是分离的，无法同时取得较大值。研究结果可为该并联机器人后续的优化设计、运动轨迹规划与控制提供参考。更多还原

【Abstract】 In response to the demand for workpiece handling and sorting in industrial production, a parallel robot mechanisms topology design method based on the Position and Orientation Characteristic(POC) equation was developed to design four Two Translations and One Rotation(2T1R) parallel robot mechanisms with the characteristics of avoiding mechanical collisions, simple branch structures. The main topological features of the parallel robot mechanism(POC,degrees of freedom, coupling degree) were analyzed, taking two 2T1R parallel robot mechanisms in which the axes of the revolute pairs were perpendicular to the Z-axis as an example, based on the principle of topological feature kinematic modeling, kinematic equations were modelled, the symbolic solutions of the position forward and inverse solutions were derived, and the numerical simulation of the position inverse solution was verified. The three types of singular positions of the parallel robot mechanism were analyzed through Jacobian matrix analysis. Then, performance indicators such as workspace, rotational ability, and dexterity of the parallel robot mechanism were studied. Finally, the influence trend of structural size parameters on workspace and rotational ability indicators was investigated, the design of institutional application scenarios was completed. The simulation results showed that compared with configuration 1,configuration 2 had better workspace, rotational ability, and dexterity performance under the same parame-ters. Configuration 1′s rotational ability and workspace volume could take larger values simultaneously, while configuration 2′s rotational ability and workspace volume were separated and could not achieve larger values simultaneously. The above research provides reference for the subsequent optimization design, motion trajectory planning and control of the parallel robot mechanisms.更多还原