Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism

Wang Li

doi:10.16578/j.issn.1004.2539.2019.10.004

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Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism

更新时间：2022-10-25

- Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism
- Journal of Mechanical Transmission Issue 10, Pages: 18-22(2019)
- 作者机构：
  
  1.陕西工业职业技术学院机械工程学院，陕西咸阳 712000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.10.004
  CLC：
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王丽.基于3-RRR球面并联机器人的空间定位问题研究[J].机械传动,XXXX,XX(XX):18-22.

Wang Li.Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism[J].Journal of Mechanical Transmission,XXXX,XX(XX):18-22.
王丽.基于3-RRR球面并联机器人的空间定位问题研究[J].机械传动,XXXX,XX(XX):18-22. DOI： 10.16578/j.issn.1004.2539.2019.10.004.

Wang Li.Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism[J].Journal of Mechanical Transmission,XXXX,XX(XX):18-22. DOI： 10.16578/j.issn.1004.2539.2019.10.004.

摘要

利用四元数表示刚体的有限转动，得到刚体的有限转动方程。在球面3-RRR并联机器人基础上增加角位移传感器支架，检测动平台的姿态角，并转化为四元数形式的定位偏差，从而将机器人应用于空间定位问题的执行机构。以系统具有大范围渐近稳定的动态品质为目标，得到动平台角速度应该满足的条件，建立动平台在定位过程中四元数分量形式的运动微分方程。实例给出了机器人在定位过程中的偏差四元数的解轨迹和动平台姿态的变化历程，求得了施加于主动构件上的控制律，从仿真结果来看，控制效果较好。

Abstract

The quaternion is used to represent the finite rotation of rigid body, and the finite rotation equation of rigid body is obtained. Based on the spherical 3-RRR parallel robot, an angular displacement sensor bracket is added to detect the attitude angle of the moving platform, and the positioning deviation is transformed into a quaternion form. Thus, the robot is applied to the actuator of the spatial positioning problem. Aiming at the large-scale asymptotically stable dynamic quality of the system, the conditions that the angular velocity of the moving platform should satisfy are obtained, and the quaternion differential equation of motion of the moving platform in the positioning process is established. The solution trajectory of the deviation quaternion and the change course of the attitude of the moving platform during the positioning process of the robot are given by an example. The control law applied to the active component is obtained. The simulation results show that the control effect is better.

关键词

球面并联机器人四元数运动微分方程定位问题

Keywords

Spherical parallel robotQuaternionMotion differential equationLocation problem

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