一种四自由度并联机器人的性能研究与设计-performance research and design of a 4 - dof parallel robot.docxVIP

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一种四自由度并联机器人的性能研究与设计-performance research and design of a 4 - dof parallel robot.docx

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一种四自由度并联机器人的性能研究与设计-performance research and design of a 4 - dof parallel robot

AbstractSpatial lower-mobility parallel robots have upper utility value and much more wider apply foreground for the advantages of their few drive elements, low cost, compact structure and simple control. It is an important task to design many lower-mobility parallel robots with good performance in order to choose differ robots based on apply need. The thesis focuses on performance analysis and structural design of a novel 4-DOF parallel robot which has 2 translational and 2 rotational DOF.The layout feature of novel 4-DOF parallel robot is introduced. The DOFof the robot is solved by using the Theory of Screws. The direct and inverse kinematics equation of the robot is inferred. A numerical example is given, then the formulae developed are proved. The working space of parallel robot is analyzed based on the structure constraints and the position counter-solution. The effects of partial structure parameters to the workspace shape and size are studied quantitatively.The velocity Jacobian matrix is established by using implicit function derivation, the speed transmission performance evaluation target is defined. The distribution of the evaluating indicator are presented on the fixed gesture workspace. The in-out connection of mechanics is analysed.A group of reasonable structural parameters are confirmed according to evaluation target of the glob speed transmission performance and the glob input force. The model of the novel 4-DOF parallel robot and its application example is designed by three dimensional charting software, the kinematics emulation is finished. Predetermined path of the moving platform is realized, that provided the important basis for the real prototypes design, also provided the reference for other robots design.KeywordsParallel robot; Theory of Screws; Reverse position solution; Workspace; Jacobian; Performance target; Kinematics simulationII目录摘要 ……………………………………………………………………………IAbstract……………………………………………………………………… II第 1 章绪论 ………………………