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4-UPS-RPS并联机器人机构及其静力学分析

Keywords: 并联机器人机构,螺旋理论,驱动输入,静力学分析

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Abstract:

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.

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