2-RRR并联机构的运动学及工作空间分析
Analysison Kinematic and Workspace of 2-RRR Parallel Mechanism
吴昊 1姜运祥 2汤赫男 3赵忆文2
作者信息
- 1. 沈阳工业大学机械工程学院,沈阳 110870;中国科学院沈阳自动化研究所,沈阳 110016
- 2. 中国科学院沈阳自动化研究所,沈阳 110016
- 3. 沈阳工业大学机械工程学院,沈阳 110870
- 折叠
摘要
针对当前主从式医疗手术机器人主手结构设计及高精度运动的需要,设计了一种可在空间中做定心运动的两自由度并联机构-2RRR型并联机构.首先,基于约束螺旋理论分析了该2-RRR并联机构的自由度数目和性质,并采用修正的Grübler-Kutzbach准则对机构的自由度分析进行验证;然后,基于机构的结构特性及几何约束条件,采用封闭矢量法构建了机构的正逆运动学模型,获得了其位置的封闭解;最后,通过仿真软件Adams对机构进行了运动学仿真计算验证,仿真结果证明了机构设计的合理性及运动学求解方法的正确性,为该并联机构在医疗手术机器人主手中的设计与应用提供理论依据.
Abstract
The 2RRR parallel mechanism is a two-degree-of-freedom parallel mechanism for centering mo-tion in space,which is designed to meet the needs of the current master-slave medical surgical robot hand structure design and high-precision motion.The number and properties of the degrees of freedom of the 2-RRR parallel mechanism are first analyzed based on the constrained spiral theory,and the modified Grübler-Kutzbach criterion is used to validate the analysis of the degrees of freedom of the mechanism.Based on the structural properties and geometrical constraints of the mechanism,the closed vector method is used to con-struct a forward and inverse kinematic model of the mechanism and obtain a closed solution for its position.Finally,the kinematic simulation of the mechanism is verified by the simulation software Adams.The simu-lation results prove the rationality of the mechanism design and the correctness of the kinematic solution method,and provide a theoretical basis for the design and application of the parallel mechanism in the mas-ter of the medical surgery robot.
关键词
并联机构/自由度/运动学/工作空间Key words
parallel mechanisms/free degree/kinematics/workspaces引用本文复制引用
基金项目
国家自然科学基金资助项目(92048203)
出版年
2024
NETL
NSTL
维普
万方数据