Design and Analysis of a Novel Four-DOF Parallel Robot Mechanism

Zou Ye; Huang Zhihui; Tang Liping

doi:10.16578/j.issn.1004.2539.2016.06.026

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Design and Analysis of a Novel Four-DOF Parallel Robot Mechanism

更新时间：2022-10-20

- Design and Analysis of a Novel Four-DOF Parallel Robot Mechanism
- Vol. 40, Issue 6, Pages: 119-122(2016)
- 作者机构：
  
  1. 无锡职业技术学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.06.026
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[1]邹晔,黄志辉,唐立平.一种新型四自由度并联机器人机构的设计与分析[J].机械传动,2016,40(06):119-122+154.

Zou Ye, Huang Zhihui, Tang Liping. Design and Analysis of a Novel Four-DOF Parallel Robot Mechanism. [J]. 40(6):119-122(2016)
[1]邹晔,黄志辉,唐立平.一种新型四自由度并联机器人机构的设计与分析[J].机械传动,2016,40(06):119-122+154. DOI： 10.16578/j.issn.1004.2539.2016.06.026.

Zou Ye, Huang Zhihui, Tang Liping. Design and Analysis of a Novel Four-DOF Parallel Robot Mechanism. [J]. 40(6):119-122(2016) DOI： 10.16578/j.issn.1004.2539.2016.06.026.

摘要

提出了一种新型四自由度并联机器人机构,该机构能实现空间的三维移动和一维转动。利用螺旋理论对机构进行自由度分析和瞬时性分析,验证了构型方法的正确性。通过对机构进行输入输出关系分析,求得机构的雅可比矩阵为4×4阶对角阵,证明了机构的完全解耦和完全各向同性。因此该机构控制简单,具有较好的运动和力传递性能以及实用价值。

Abstract

A novel fully-decoupled three-translational and one-rotational（ 3T1R） parallel robot mechanism is proposed. First,the degree of freedom analysis and instantaneous analysis of the parallel mechanism is carried out by using the screw theory and the correctness of the configuration method is verified.Through the analysis of the relationship between input and output of mechanism,the Jacobian matrix of the parallel mechanism is obtained and it is 4 × 4 order diagonal matrix. The fully-isotropic and fully-decoupled characteristics of the mechanism are proved. And this mechanism control is simple and has good movement and force transmission performance and higher practical value.

关键词

自由度并联机构完全解耦完全各向同性

Keywords

Degree of freedomParallel mechanismFully-decoupledFully-isotropic

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