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为了丰富并联少自由度机器人的机型 ,本文提出了一种能实现空间三维移动和绕 Z轴转动的并联机器人机构模型 ,该模型由三个 TRT分支和一个 SPS分支构成。文中采用螺旋理论分析了它能实现空间三维移动和绕 Z轴转动的机构学原理 ,计算了它的自由度 ;给出了其位置反解的方法 ,推导出了位置正解的封闭方程 ,并进行了数值验证
In order to enrich the parallel robot with fewer degrees of freedom, this paper presents a parallel robot mechanism that can realize three-dimensional movement and Z-axis rotation. The model consists of three TRT branches and one SPS branch. In this paper, the spiral principle is used to analyze the mechanism principle of three-dimensional space motion and Z-axis rotation. The degree of freedom of the system is calculated. The method of inverse position solution is given and the closed-form equation of positive position solution is deduced. Numerical verification