6-PSS并联机器人操作机平动工作空间解析

姜兵; 黄田

6-PSS并联机器人操作机平动工作空间解析

姜兵,
黄田

天津大学机械工程学院,天津 300072

详细信息

作者简介:
姜兵（1972- ），男，博士研究生．研究领域：并联机器人机构学．

中图分类号: TP24
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- 文章访问数: 35
- HTML全文浏览量: 1107
- PDF下载量: 443
出版历程
- 收稿日期: 1999-05-09
- 发布日期: 2000-03-14

CLOSED FORM SOLUTION TO TRANSLATIONAL WORKSPACE OF 6-PSS PARALLEL MANIPULATORS

School of Mechanical Engineering, Tianjin University, Tianjin, 300072

摘要

摘要: 提出一种求解6-PSS并联机器人操作机平动工作空间边界的解析方法．该方法将平动工作空间问题归结为三类子空间边界求交问题，即分别由六张球面片交集构成的上、下边界与由六张椭圆柱面交集构成的侧面边界的求交问题．文中还提出主工作空间的概念和相应的解析表达及工作空间评价指标，并探讨了设计参数对评价指标的影响规律．
- 并联机器人 /
- 计算运动学 /
- 工作空间 /
- 曲面求交
Abstract: The method to formulate the closed form solution to the translational workspace boundary of 6 PSS parallel manipulators is propos. With a understanding of the kinematic characteristics of the manipulator, the workspace boundary as a whole is formulated as the intersection of three subsets, i.e. two subsets produced by the intersection of six spherical surfaces, and one subset produced by the intersection of six elliptical cylindrical surfaces. The primary workspace is also defined and the influence of the structural parameters on such workspace is discussed.
- Parallel manipulators /
- computational kinematics /
- workspace /
- surface intersection

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参考文献(12)

[1]	Stewart D.A Plat form with 6 Degrees of Freedom.Proc Inst Mech Eng,1965,180:381-386
[2]	Jo D Y.Workspace Analysis of Closed Loop Mechanisms with Unil ateral Constraints.ASME Des Eng Div Pub,Advin Des Automat,1989,3:53-60
[3]	Gosselin C.Determination of the Workspace of 6-dof Parallel Manipulators.ASME J Mech Des,1990,112(3):331-336
[4]	Merlet J P.Geometrical Determination of Workspace of a Constrained Parallel Manipulators.in ARK,France,1992,326-329
[5]	Ji Z.Workspace Analysis of Stewart Platforms Via Vertex Space.J Robotic Systems,1994,11(7):631-638
[6]	黄田,汪劲松,Whitehouse D J.Stewart 并联机器人位置空间解析.中国科学(E 辑),1998,28(2):136-145
[7]	Huang T,Wang J S,Whitehouse D J.Closed Form Solution to Hexapod-based Virtual Axis Machine Tools.ASME J of Mechanical Design,1999,21(1):26-31
[8]	Huang T,Wang J S,Yuan J X.Determination of Closed Form Solution to Position Workspace of Stewart Plat form.ASME25th Biennial Mechanism Conf,DETC98/MECH6001,1998
[9]	Huang T,Wang J S,Whitehouse D J.Theory and Methodology for Kinematic Design of Gough-stewart Plat forms.S ci-ence in China(Series E),1999,42(4):1-12
[10]	Huang T,Whitehouse D J,Wang J S.Local Dexterity,Optimum Architecture and Design Criteria for Parallel Machine Tools.Annals of CIRP,1997,47(1):347-351
[11]	Pritschow G,Wurst H K.Systematic Design of Hexapods and Other Parallel Link Systems.Annals of CIRP,1997,46(1):291-295
[12]	Jiang B,etal.Dexterity Design of 6-PSS Parallel Manipulators.Proc of the 10th TMM World Congress,Oulu,Finland,1999

施引文献

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文章访问数: 35
HTML全文浏览量: 1107
PDF下载量: 443
被引次数: 0

6-PSS并联机器人操作机平动工作空间解析

作者简介: 姜兵（1972- ），男，博士研究生．研究领域：并联机器人机构学．

计量

出版历程

CLOSED FORM SOLUTION TO TRANSLATIONAL WORKSPACE OF 6-PSS PARALLEL MANIPULATORS

计量

出版历程

目录

作者简介:
姜兵（1972- ），男，博士研究生．研究领域：并联机器人机构学．