【作者】 胡国胜；

【导师】 顾洪波；

【作者基本信息】 东华大学 ， 机械设计及理论， 2005， 硕士

【摘要】 近年来,对并联机器人的研究已经成为现代机器人学研究领域的一个新的热点。并联机器人是一种全新的机器人,它以刚度大、承载力强、误差小、精度高,自重负荷比小、动力性能好等一系列优点与串联机器人应用上形成互补关系,扩大了机器人的应用领域。 并联机器人多环路闭环结构的特点导致了其工作空间和奇异性方面的分析较为困难,而工作空间与奇异性在机器人的设计和轨迹规划方面是不可缺少的。因此,研究并联机器人的工作空间和奇异性具有十分重要的意义,为并联机器人的控制及路径规划提供理论依据,有助于合理地选择机构参数和运动参数的范围和扩大工作空间体积,从而提高并联机器人的性能。 本文以6—SPS型并联机器人为研究对象,首先对一种已知的6—3结构Stewart平台工作空间研究方法—“顶点空间法”,进行了分析和研究,结合6—SPS并联机器人自身机构对称性的特点,对并联机器人的工作空间对称性做了充分的论证。在分析了影响工作空间的约束前提下,通过三维积分方法对6—SPS并联机器人的工作空间进行了求解,得到了工作空间的形状和大小。 其次,根据数学模型,借助于MATLAB软件平台,采用参数化设计和人机交互相结合的方法,编写了6—SPS型并联机器人的工作空间的仿真程序,并且分析了并联机器人不同结构参数对工作空间的形状和大小的影响;该仿真系统接口友好,操作简便,对于提高并联机器人的设计效率,合理选择机构参数及运动参数,有一定的价值。 最后对现阶段并联机器人的奇异研究现状做了详细归类,并根据影响系数矩阵和螺旋理论,讨论了并联机器人的奇异原理。更多还原

【Abstract】 In recently years, study of parallel robots becomes more and more concerned in the research field of robotics. The parallel robot is a new kind of robots. Compared with traditional serial robots, parallel robot shows better characters in structure stiffness, loading capacity, operation accuracy and load/weight ratio. These advantages make the parallel robot more competent than the traditional serial robots in some areas and also enlarge the application of robots.However, due to the specific multiple closed-loop structure of the parallel robot, it is rather difficult to analyze the singularity and to calculate the workspace for the parallel manipulators. Since the singularity and workspace is indispensable for designing the robot. Research for the workspace and singularity will be of great significance. It not only can offer theoretic reference for control and track layout of parallel robots but also help to choose parameters and scope of velocity parameters reasonably and magnify volume of workspace of parallel robots. So performance of parallel robots will be improved.The main study object in this thesis is a 6-SPS parallel robot. Firstly, a well-known method on workspace analysis of 6-3 "Stewart Platform"-"Vertex Space" method was analyzed and studied. Combined with structure characteristics of parallel manipulators, such as coupling and symmetry, the workspace of parallel robot was proved reasonably inthis thesis. After analyzing restriction of affect workspace, With three-dimensional integral, an analytical solution of workspace of 6-SPS parallel robot is obtained, and the shape and volume of its workspace are gained also.Secondly, on the basis of mathematics model and MATLAB software platform, the simulation system of workspace of 6-SPS parallel robots are developed through the method that combines parametric design with interactive design. In addition, the effect that used different structural parameters to shape and volume of workspace was analyzed. The interface of simulation system is friendly, and it is valuable for the simulation system to improve designing efficiency and choose structural and velocity parameter reasonably.Finally, the current status in research of singularity of parallel robots are classified in detail. Furthermore, based on Influence Coefficient Matrix Theory and Screw Theory, singularity principle of parallel robots are discussed.Hu Guosheng (Mechanical Design and Theory) Supervised by Gu Hongbo更多还原