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4-UPS-RPS并联机器人机构及其静力学分析

邓昱, 陈修龙, 孙先洋, 王素玉, 赵永生

邓昱, 陈修龙, 孙先洋, 王素玉, 赵永生. 4-UPS-RPS并联机器人机构及其静力学分析[J]. 北京工业大学学报, 2013, 39(10): 1464-1467.
引用本文: 邓昱, 陈修龙, 孙先洋, 王素玉, 赵永生. 4-UPS-RPS并联机器人机构及其静力学分析[J]. 北京工业大学学报, 2013, 39(10): 1464-1467.
DENG Yu, CHEN Xiu-long, SUN Xian-yang, WANG Su-yu, ZHAO Yong-sheng. 4-UPS-RPS Parallel Robot Mechanism and Its Statics Analysis[J]. Journal of Beijing University of Technology, 2013, 39(10): 1464-1467.
Citation: DENG Yu, CHEN Xiu-long, SUN Xian-yang, WANG Su-yu, ZHAO Yong-sheng. 4-UPS-RPS Parallel Robot Mechanism and Its Statics Analysis[J]. Journal of Beijing University of Technology, 2013, 39(10): 1464-1467.

4-UPS-RPS并联机器人机构及其静力学分析

基金项目: 

国家自然科学基金资助项目(51005138)

山东科技大学杰出青年基金资助项目(2011KYJQ102).

详细信息
    作者简介:

    邓昱(1977—), 女, 讲师, 主要从事并联机构学方面的研, E-mail: dengyuwork@126.com.

    通讯作者:

    陈修龙(1976—), 男, 副教授, 主要从事并联机器及其动力学方面的研究, E-mail: cxldy99@163.com.

  • 中图分类号: TH112

4-UPS-RPS Parallel Robot Mechanism and Its Statics Analysis

  • 摘要: 提出了一种4-UPS-RPS新型空间5自由度并联机器人机构.运用约束螺旋理论分析了4-UPS-RPS并联机器人机构实现3转动和2移动5个自由度运动的机构学原理, 计算其自由度, 分析其驱动输入选取的合理性.建立了4-UPS-RPS并联机器人机构的静力学平衡方程和静力传递矩阵, 以该机构作为并联机床的应用实例, 求解其静力学方程.该研究为并联机构的优化设计和运动规划提供了理论依据.
    Abstract: A novel 4-UPS-RPS spatial five-degrees-of-freedom parallel robot mechanism is presented.The principles that the mechanism can perform three-dimensional rotation and two-dimensional translation are analyzed by using screw theory, the degree of freedom of the mechanism is calculated, and the actuating input selection is discussed.The force balance equation and static transfer matrix are established.Taking 4-UPS-RPS parallel robot mechanism as the application of parallel machine tool, the statics analysis is realized.This research can provide a theoretical basis for the optimum design and motion planning of 4-UPS-RPS parallel mechanism.
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    [9] 李仕华.几种空间少自由度并联机器人机构分析与综合的理论研究[D].秦皇岛:燕山大学机械工程学院, 2004.LI Shi-hua.Some theoretial issues on analysis andsynthesis of lower-mobility parallel mechanisms[D].Qinhuangdao:College of Mechanical Engineering, Yanshan University, 2004. (in Chinese)
计量
  • 文章访问数:  22
  • HTML全文浏览量:  2
  • PDF下载量:  10
  • 被引次数: 0
出版历程
  • 收稿日期:  2012-09-05
  • 网络出版日期:  2022-11-02

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