Tripod并联机器人运动学分析与样机实验

Kinematic Analysis and Experiment of Tripod Parallel Robot

摘要:

对Tripod并联机器人进行了运动学分析，计算了机构自由度，采用矢量代数法和数值法求出了运动学位置逆解和位置正解。利用Jacobian矩阵的条件数对其进行了运动性能评价，分析了其可达工作空间。计算结果表明该机构具有优越的各向同性性能和广阔的可达工作空间。通过ADAMS和Matlab运动学仿真软件对正解和逆解分别进行了验证。仿真实验结果证明了所建模型的正确性。并对Tripod并联机器人样机进行了精确定位实验、直线插补实验和圆弧插补实验，实验证明机构所建数学模型的正确性。

关键词:并联机器人;3自由度;运动学分析;工作空间

Abstract:

Because of parallel mechanism has high rigidity, high speed, high carrying capacity, and not cumulative error, etc., it has been widely used in many fields. Especially less degrees of freedom parallel mechanism has become a hot research topic. The inverse and forward position model of Tripod parallel robot was established, through kinematic analysis of the Tripod parallel robot, the degree of freedom was derived. The inverse kinematics and forward kinematics were solved by using algebraic vector method and numerical method. The condition number of Jacobian matrix was derived and the workspace was analyzed. The calculation result showed that the mechanism owned perfect isotropic properties and specious workspace. ADAMS and Matlab kinematics simulation software were used to verify the inverse and forward position model of this mechanism. The simulation results proved the correctness of the model. A model machine of Tripod parallel robot was developed and a series of experiments, such as accurate positioning, line/circle interpolation, continuous interpolation, were carried out. The results suggested that the mathematical model established for this parallel mechanism was correct. The research systemically solved the problem of theoretical analysis of Tripod parallel robot, set up the experimental prototype, and provided strong guidance for the engineering application.

Key words:parallel robot;3-DOF;kinematic analysis;workspace