Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism

Yu Liang; Zhang Long; Wang Peng; Wan Jun

doi:10.16578/j.issn.1004.2539.2020.02.009

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Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism

Design· Calculation | 更新时间：2022-10-25

- Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 2, Pages: 61-67(2020)
- 作者机构：
  
  1.淮南师范学院机械与电气工程学院，安徽淮南 232000
  2.南京航空航天大学机电学院，江苏南京 210016
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.02.009
  CLC：
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余亮,张龙,王鹏等.一种三平动并联机构的设计与运动学分析[J].机械传动,2020,44(02):61-67.

Yu Liang,Zhang Long,Wang Peng,et al.Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(02):61-67.
余亮,张龙,王鹏等.一种三平动并联机构的设计与运动学分析[J].机械传动,2020,44(02):61-67. DOI： 10.16578/j.issn.1004.2539.2020.02.009.

Yu Liang,Zhang Long,Wang Peng,et al.Design and Kinematics Analysis of a 3-DOF Translational Parallel Mechanism[J].Journal of Mechanical Transmission,2020,44(02):61-67. DOI： 10.16578/j.issn.1004.2539.2020.02.009.

摘要

针对Delta并联机器人在食品、医药、电子等轻工业上的广泛应用，对一种T型轴铰链Delta三平动并联机器人的构型设计进行了系统研究。分析了运动副在机构组合中自由度约束关系，得出了一种最小支路位移参数特性，以此遴选出3T0R并联机构所含的支路类型，综合出多组三平动并联机器人机构。经过机构演变法，设计出一种支路类型为, $H S O C {- P^{(4 R)} - \hat{R ⊥ R} ∥ \hat{R ⊥ R} -}$ ,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=35920031&type=,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=35920027&type=,54.94866943,4.14866638,的新型T型轴铰链的Delta并联机器人机构。并基于位移参数特性，验算了其机构空间自由度。基于设计的Delta并联机器人机构，进行了运动学分析，建立了逆解位置模型、正解位置模型和速度模型。

Abstract

A systemic research on configuration design and kinematics analysis of a new 3-DOF translational parallel robot， Delta， which involved T-type hinges， is carried out based on Delta widely used in food fields， pharmaceutical fields， electronic fields and other light industry. The displacements characteristics of minimal branch are obtained based on analysis of the freedom constraints relationship. And some branch types 3T0R parallel mechanism may contain are selected prudently. And some 3-DOF translational parallel robot mechanisms are synthesized. New Delta parallel robot mechanism that contains T-type hinges is synthesized by mechanism evolution method， whose branch type is , $H S O C {- P^{(4 R)} - \hat{R ⊥ R} / / \hat{R ⊥ R} -}$ ,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=35920039&type=,http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=35920035&type=,54.94866943,4.14866638,. And based on the displacement parameter characteristics， the spatial degree of freedom is checked. Finally， the kinematics analysis of Delta parallel robot mechanism is carried out. And the inverse position model， forward position model and velocity model are built.

关键词

Delta 最小支路位移参数特性构型设计运动学分析

Keywords

DeltaDisplacement parameter characteristic of minimal branchConfiguration designKinematics analysis

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