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根据并联机器人机构结构综合理论,以单开链支路为单元,改进了一种能实现空间一维移动和一维转动的二自由度并联机构。运用封闭矢量多边形投影法建立了该并联机构的运动学模型,得出了基于Jaco-bian矩阵形式的机构运动学输入输出方程。采用Jacobian代数法对机构的奇异位形进行分析,得出机构可能出现奇异位形的类型和条件。通过ADAMS虚拟样机的模拟和仿真,验证理论分析方法和相关结论的正确性,为将该并联机构用作中医推拿机器人的末端执行器,有效完成多种推拿动作提供重要保障。
According to the theory of mechanical structure of parallel robots, a two-degree-of-freedom parallel mechanism that can realize one-dimensional space movement and one-dimensional rotation is improved by taking single open chain branch as a unit. The kinematic model of the parallel mechanism was established by closed vector polygon projection method, and the mechanism kinematic input-output equation based on Jaco-bian matrix was obtained. The Jacobian algebra method is used to analyze the bizarre configuration of the mechanism, and the types and conditions of possible bizarre configuration of the mechanism are obtained. Through the simulation and simulation of the ADAMS virtual prototype, the correctness of the theoretical analysis method and the related conclusions are verified, which provides an important guarantee for effectively implementing a variety of massage actions by using the parallel mechanism as an end effector of a Chinese medicine massage robot.