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并联机构具有结构简单、承载能力强、精度高等优点.根据这些优点,提出一种串并混联五自由度机械臂,该手臂采用RR&PRR球面解耦并联机构作为机械臂的肩关节和腕关节,兼具了串联机构和并联机构的优点.运用D-H法建立机械臂各连杆变换关系,并对混联机械臂进行了运动学分析.运用图解法并借助Matlab软件对混联机械臂工作空间进行了分析.建立了混联机械臂各个关节的静力传递方程,推导出混联机械臂的力雅克比矩阵,为混联机械臂的实际应用奠定了理论基础.
The parallel mechanism has the advantages of simple structure, strong carrying capacity and high accuracy etc. Based on these advantages, a series of parallel and five-degree-of-freedom manipulator is proposed, which adopts RR & PRR spherical decoupling parallel mechanism as the shoulder and wrist of the manipulator, Which has the advantages of tandem mechanism and parallel mechanism.DH method is used to establish the transformation relationship of each link of the manipulator and the kinematics analysis of the hybrid manipulator is carried out.Using the graphic method and Matlab software to work on the hybrid manipulator working space The static transfer equations of the joints of the hybrid manipulator are established, and the force Jacques matrix of the hybrid manipulator is derived, which provides a theoretical basis for the practical application of the hybrid manipulator.