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针对新型二自由度球面并联换挡机械手,提出一种仅对关节空间进行插补运算的免标定式线性控制方法。首先介绍了二自由度球面并联换挡机械手的组成及其所完成的运动轨迹。然后建立了该并联机构的数学模型及正反解表达式,通过分析完成换挡动作时驱动分支杆长的变化规律,提出了只对关节空间进行直线插补的线性控制方法。最后分析了主要结构参数对机械手运动精度的影响,分析结果表明该并联机构安装位置误差对运动精度影响很小,具有免标定的特性。
Aiming at the new type of two degrees of freedom spherical parallel shift manipulator, a free-calibration linear control method for interpolating the joint space is proposed. Firstly, the composition of two degrees of freedom spherical parallel shift manipulator and its completed motion trajectory are introduced. Then, the mathematical model of the parallel mechanism and the expression of the forward and inverse solution are established. By analyzing the variation law of the driving branch length when the shift operation is completed, a linear control method for linear interpolation of the joint space is proposed. Finally, the influence of the main structural parameters on the robot motion accuracy is analyzed. The analysis results show that the position error of the parallel mechanism has little influence on the motion accuracy and has the characteristics of calibration-free.