文獻(xiàn)翻譯--一種三自由度并聯(lián)機(jī)械手

1、<p>　　A Novel Three Degree of Freedom Parallel Translating Manipulator</p><p>　　Abstract: A novel three degree of freedom parallel translating manipulator is presented. The three degree of freedom paral

2、lel translating manipulator consists of two six degree of freedom limbs and a compound limb which constrains the moving platform of the output to translation motion. Closed form solutions of the parallel manipulator are

3、developed for both the inverse and forward kinematics. The Jacobian matrix of the parallel translating manipulator is also derived. The parallel manipulator h</p><p>　　Keywords:Parallel manipulator, Kinemati

4、cs, Identical performance, Parallel machine tool </p><p>　　1 Introduction </p><p>　　Compared with serial devices, the six degree of freedom parallel manipulators have higher stiffness, better dy

5、namic characteristics at the cost of smaller workspace, more difficult mechanical design, more complex direct kinematics. To overcome the above shortcomings, parallel manipulators with few than six degree of freedom have

6、 been investigated, especially the spatial parallel translating manipulators. Clave studied the famous three degree of freedom high speed robot called the Delta robot. Th</p><p>　　widely. Tsai and Gregori di

7、scussed the kinematics of the 3-UPU (universal-prismatic-universal) parallel manipulator. In order to keep the moving platform from changing its orientation, the four revolute joint axes of the two universal joints must

8、satisfy some special geometric conditions. Li </p><p>　　presented the 3-PPP (prismaticprismatic-prismatic) parallel translating manipulator. The prismatic pairs of it are normal to each other and the actuato

9、rs are arranged according to the Cartesian </p><p>　　coordinate frame. Kim also studied the 3-PRRR (prismatic-revolute-revolute-revolute) parallel manipulator. The kinematics of the manipulator is decoupled

10、for the special arrangement of the joints. Substituting the 4R (revolute) for the P (prismatic), Ma also presented a new three degree of freedom parallel translating manipulator similar to the one presented by Kim Zhao

11、studied the kinematics of an over constrained 3-RRC (revolute-revolute-cylindrical) translational manipulator. In this paper a</p><p>　　2 Description for the Structure of the Parallel Manipulator The structu

12、re of the three degree of freedom parallel translating manipulator being considered is shown in figure 1. Three limbs connect the moving platform to the fixed platform. Two limbs consist of an actuated linear slide, a pa

13、ssive spatial joint, a fixed-length strut and a passive universal joint, respectively. And the third limb consists of an actuated linear slide and a double parallelogram mechanism. The motions of the actuated </p>

14、<p>　　The moving platform of the manipulator is fixed to the upper platform of the double parallelogram mechanism and the lower platform of it is fixed on the linear slide. So the compound limb has three degree of

15、freedom: three translations. The other two limbs are six degree of freedom and have no constraint to the moving platform of the manipulator. Thus the motion of the moving platform of the parallel manipulator is determine

16、d by the compound limb, namely three translations.</p><p>　　一種三自由度并聯(lián)機(jī)械手</p><p>　　摘要：一種新型三自由度并聯(lián)機(jī)械手的運(yùn)轉(zhuǎn)方式已經(jīng)出現(xiàn)了。這種三自由度的并聯(lián)機(jī)械手是由兩個(gè)六自由度的肢體和一個(gè)被限制在移動(dòng)平臺(tái)上只能平移的復(fù)合肢體組成。并聯(lián)機(jī)械手封閉形勢(shì)的解決方式為機(jī)械手正向、逆向運(yùn)動(dòng)的開(kāi)發(fā)。并聯(lián)機(jī)械人的雅克比矩

17、陣也同樣衍生而出。并聯(lián)機(jī)械手具有具有沿致動(dòng)線性滑軌為彼此平行的方向上的相同的性能。它可以從平行移動(dòng)的機(jī)械手的雅可比矩陣的元素表達(dá)進(jìn)行說(shuō)明。最后一個(gè)三自由度的基礎(chǔ)上，并聯(lián)機(jī)械手自由度與并聯(lián)機(jī)床也提出了它的應(yīng)用。</p><p>　　關(guān)鍵詞：并聯(lián)機(jī)械手，運(yùn)動(dòng)學(xué)，性能相同，并聯(lián)機(jī)構(gòu)</p><p><b>　　1引言</b></p><p>　　與串

18、聯(lián)機(jī)械手相比，自由并聯(lián)機(jī)械手的六自由度有更高的靈活性，提出了一種可實(shí)現(xiàn)三自由度平動(dòng)的實(shí)用、新型并聯(lián)機(jī)床機(jī)構(gòu)，無(wú)需采用附加的屏東機(jī)構(gòu)，減少了干涉的可能。對(duì)其基礎(chǔ)的運(yùn)動(dòng)學(xué)設(shè)計(jì)進(jìn)行了研究，可用于指導(dǎo)實(shí)際的樣機(jī)操作。在較小的工作空間，要求更困難的機(jī)械設(shè)計(jì)，更復(fù)雜的運(yùn)動(dòng)學(xué)原理，更低的成本以及更好的動(dòng)態(tài)特性。在技術(shù)上，為了克服以上眾多缺點(diǎn)，六自由度的并聯(lián)機(jī)械手脫穎而出，尤其是空間平行移動(dòng)的六自由度并聯(lián)機(jī)械手。Clave研究出了著名的三自由度高速機(jī)械

19、手-------三角洲機(jī)械手。三角洲機(jī)械手具有全的封閉形式，解決了機(jī)械手正向移動(dòng)的運(yùn)動(dòng)學(xué)難題。同時(shí)也收錄了十二個(gè)球形關(guān)節(jié)的機(jī)械結(jié)構(gòu)。Tsai提出三度類似于三角洲機(jī)械手自由度并聯(lián)機(jī)械手概念。并聯(lián)機(jī)械手有三個(gè)復(fù)合四肢，擁有二十多個(gè)旋轉(zhuǎn)接頭。無(wú)論是并聯(lián)機(jī)械手的三個(gè)復(fù)合四肢中的任何一個(gè)機(jī)構(gòu)。他的拓?fù)浣Y(jié)構(gòu)也呈現(xiàn)的Herve呈現(xiàn)與控制器不同的架構(gòu)與純平移運(yùn)動(dòng)，并且是在自動(dòng)組裝和在機(jī)床作為刀具和工件定位替代結(jié)構(gòu)的前提下。大多數(shù)這些機(jī)械手被上特設(shè)的基礎(chǔ)

20、上開(kāi)發(fā)的。自由平行移動(dòng)機(jī)械手三度由開(kāi)環(huán)運(yùn)動(dòng)四肢也研究了廣泛。Tsai和Gregori討論的3-UPU（通用棱柱通用）</p><p>　　本文提出了一種新型三自由度并聯(lián)機(jī)械手翻譯提出。并聯(lián)機(jī)械手擁有一種化合物肢體和兩個(gè)開(kāi)環(huán)運(yùn)動(dòng)四肢。操縱器系統(tǒng)已經(jīng)在下面的章節(jié)中討論。首先并聯(lián)機(jī)械手的結(jié)構(gòu)進(jìn)行說(shuō)明。則的運(yùn)動(dòng)學(xué)進(jìn)行了研究。機(jī)械手的雅可比也進(jìn)行了討論。最后，并聯(lián)機(jī)械手的應(yīng)用提出了三個(gè)軸并聯(lián)機(jī)床。</p>&

21、lt;p>　　2關(guān)于并聯(lián)機(jī)械手的結(jié)構(gòu)說(shuō)明</p><p>　　三個(gè)自由度并聯(lián)機(jī)械手翻譯所考慮的結(jié)構(gòu)如圖1所示。三肢動(dòng)平臺(tái)連接到固定的平臺(tái)。二肢由一個(gè)驅(qū)動(dòng)的線性滑動(dòng)，無(wú)源空間接頭，一個(gè)固定長(zhǎng)度支柱和一個(gè)被動(dòng)萬(wàn)向接頭的，分別。而第三分支包括一個(gè)驅(qū)動(dòng)的線性滑軌和雙平行四邊形機(jī)制。致動(dòng)線性滑動(dòng)的運(yùn)動(dòng)是彼此平行。雙平行四邊形機(jī)構(gòu)具有三肢如圖2他們每個(gè)人都包括一個(gè)被動(dòng)萬(wàn)向接頭，一個(gè)定長(zhǎng)支柱和一個(gè)被動(dòng)萬(wàn)向接頭。在各側(cè)翼的

22、兩個(gè)無(wú)源萬(wàn)向接頭的外卷接頭軸線彼此平行，并且兩個(gè)中間旋轉(zhuǎn)關(guān)節(jié)軸也彼此平行。更重要的是，固定長(zhǎng)度支柱的長(zhǎng)度是彼此相等和其上的平臺(tái)的尺寸也等于下平臺(tái)。當(dāng)這些幾何條件滿足，Tsai已經(jīng)得到了了3-UPU并聯(lián)機(jī)械手有兩個(gè)自由度的結(jié)論，這些都可以通過(guò)在球的表面上的轉(zhuǎn)換來(lái)完成。</p><p>　　機(jī)械手的移動(dòng)平臺(tái)被固定在雙平行四邊形機(jī)構(gòu)的上平臺(tái)和它的下平臺(tái)固定在直線滑動(dòng)。因此，該機(jī)構(gòu)肢體有三個(gè)自由度。其他兩個(gè)四肢六自由度，