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提出了一种新型四自由度并联机器人机构,该机构能实现空间的三维移动和一维转动。利用螺旋理论对机构进行自由度分析和瞬时性分析,验证了构型方法的正确性。通过对机构进行输入输出关系分析,求得机构的雅可比矩阵为4×4阶对角阵,证明了机构的完全解耦和完全各向同性。因此该机构控制简单,具有较好的运动和力传递性能以及实用价值。
A new four-DOF parallel robot mechanism is proposed, which can realize three-dimensional movement and one-dimensional rotation in space. Spiral theory is used to analyze the mechanism’s degree of freedom and instantaneous analysis, which verifies the correctness of the configuration method. By analyzing the mechanism of input and output, the Jacobian matrix of the organization is obtained as a 4 × 4 diagonal matrix, which proves the complete decoupling and complete isotropy of the mechanism. Therefore, the control mechanism is simple, with good performance of movement and force transmission and practical value.