Kinematic Analysis of a 3-DOF Parallel Polishing Manipulator

Bao Xinmian; Wang Xuelei; Zhang Weitao; Wang Lu; Zhao Dongjie

doi:10.16578/j.issn.1004.2539.2024.04.010

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Kinematic Analysis of a 3-DOF Parallel Polishing Manipulator

Design· Calculation | 更新时间：2024-04-19

- Kinematic Analysis of a 3-DOF Parallel Polishing Manipulator
- Journal of Mechanical Transmission Vol. 48, Issue 4, Pages: 75-81(2024)
- 作者机构：
  
  1.聊城大学机械与汽车工程学院，山东聊城 252000
  2.北京电子科技职业学院汽车工程学院，北京 100176
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.04.010
  CLC：
- Published：15 April 2024，
  
  Received：28 December 2022，
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包新棉,王学雷,张伟涛等.一种3自由度并联抛磨机械臂的运动学分析[J].机械传动,2024,48(04):75-81.

Bao Xinmian,Wang Xuelei,Zhang Weitao,et al.Kinematic Analysis of a 3-DOF Parallel Polishing Manipulator[J].Journal of Mechanical Transmission,2024,48(04):75-81.
包新棉,王学雷,张伟涛等.一种3自由度并联抛磨机械臂的运动学分析[J].机械传动,2024,48(04):75-81. DOI： 10.16578/j.issn.1004.2539.2024.04.010.

Bao Xinmian,Wang Xuelei,Zhang Weitao,et al.Kinematic Analysis of a 3-DOF Parallel Polishing Manipulator[J].Journal of Mechanical Transmission,2024,48(04):75-81. DOI： 10.16578/j.issn.1004.2539.2024.04.010.

摘要

针对百叶窗叶片的仿形抛磨要求，研究了一种可为末端执行器提供

向

、Y

向的移动和

向转动的3自由度并联机械臂。为了验证机械臂的运动学性能，首先，描述了其机构特征，并基于螺旋理论进行了机构自由度分析；其次，基于闭环矢量法构建了机构运动学方程，对其进行了位置正、逆解分析，并通过具体算例对分析结果进行了初步验证；最后，构建了机构的数值仿真模型和虚拟样机模型，进行了位置、速度的逆运动学仿真分析。仿真结果表明，两种模型的分析结果一致，逆解理论分析结果可信；机械臂各支链可协调运动，运动过程平稳，位移、速度曲线平滑、无突变，可为后续机械臂的尺寸优化和运动控制提供依据。

Abstract

A 3-DOF parallel manipulator with

movement and

rotation for the end-effector is studied in order to meet the requirements of copying and polishing of louver blades. In order to verify the kinematic performance of the manipulator

firstly

the mechanism characteristics are described

and the degree of freedom of the mechanism is analyzed based on the spiral theory. Secondly

the kinematics equations of the mechanism are constructed based on the closed-loop vector method

the forward and inverse position solutions are analyzed

and the analysis results are preliminarily verified by concrete examples. Finally

the numerical simulation model and virtual prototype model of the mechanism are constructed

and the inverse kinematics simulation analysis of the position and velocity is carried out. The simulation results show that the analysis results of the two models are consistent

and the result of inverse solution is reliable. The arm chain can coordinate the movement

the movement process is smooth

and the displacement and velocity curves are smooth and without mutation

and can provide a basis for the size optimization and motion control of the manipulator.

关键词

并联机械臂螺旋理论运动学虚拟样机

Keywords

Parallel manipulatorSpiral theoryKinematicsVirtual prototype

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