东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2003, Vol. 24 ›› Issue (12): 1199-1202.DOI: -

• 论著 • 上一篇    下一篇

双并联机器人协作的运动学建模

李树军;朱天旭   

  1. 东北大学机械工程与自动化学院;东北大学机械工程与自动化学院 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2003-12-15 发布日期:2013-06-24
  • 通讯作者: Li, S.-J.
  • 作者简介:-
  • 基金资助:
    辽宁省自然科学基金资助项目(9910400204)

Kinematic modeling of two parallel manipulators in cooperation

Li, Shu-Jun (1); Zhu, Tian-Xu (1)   

  1. (1) Sch. of Mech. Eng. and Automat., Northeastern Univ., Shenyang 110004, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2003-12-15 Published:2013-06-24
  • Contact: Li, S.-J.
  • About author:-
  • Supported by:
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摘要： 提出并联机器人以协作的方式提高其作业能力的一个新途径·通过引入瞬时作业点的概念,将工件和刀具离散化,并用其相应坐标系上的一个向量来描述工件和刀具上的瞬时作业点,建立了协作系统中各单机间的联系,将并联机器人协作运动学问题转化成二单并联机器人在工件和刀具约束下的运动学参量的求解·建立了双并联机器人协作的等效闭链运动学模型和运动学方程式,为并联机器人协作运动学分析和控制建立了基础·通过算例证明了模型的正确性和并联机器人协作在拓展有效工作空间方面的有效性·

关键词: 并联机器人, 协作, 瞬时作业点, 约束, 等效闭链, 运动学模型

Abstract: An approach to improve the operational performance of single parallel manipulator in form of cooperation of two or more parallel manipulators are introduced. The equivalent close-loop kinematic model and kinematic equation of two parallel manipulators in cooperation are built to lay a foundation for the kinematic analysis and control of parallel manipulators in cooperation by employing the idea of instantaneous cooperating point and instantaneous constraint of workpiece and tool, thus transforming the kinematic problems of two parallel manipulators in cooperation into a solution to the kinematic problems of two single parallel manipulators, on which these parameters are restrained by the workpiece and tool. The computation for an instance has verified the correctness of the model and the validity of developing useful working space by the manipulators in cooperation.

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