【作者】 翟旭；

【导师】 路懿；

【作者基本信息】 燕山大学 ， 机械电子工程， 2009， 硕士

【摘要】 并联机构作为一类机器人机构,具有精度高、刚度大、速度快和承载能力强等优点。研究并联机器人机构的型综合问题,有利于在实际应用中获得新的并联机器人结构,为设计制造出实用的并联机器人打下基础,在理论上也有较高的价值,有利于逐步建立并联机器人型综合的一般方法。本课题主要研究基于修正自由度计算公式的并联机构型综合问题,旨在针对含有过约束的并联机构,建立全面有效的型综合理论。主要研究内容包括以下几方面:提出了运用系统连杆法和拓扑矩阵-图表法对含有过约束的并联机构进行型综合。采用系统连杆法得到众多空间并联机构的关联连杆;根据关联连杆并且应用拓扑矩阵-图表法,得到了各种并联机构拓扑胚图与拓扑图,为进一步研究型综合问题打下了基础。基于几何约束和尺寸驱动技术,提出并联机器人模拟机构的计算机辅助几何法,研究了相关的基本理论;建立一些含有过约束的并联模拟机构,对模拟机构给定输入件的驱动尺寸,确定动平台的位置和姿态。证明了本论文得到的机构的自由度与可动性的正确性。论文的工作为进一步研究并联机构的型综合问题奠定了一定的理论基础。更多还原

【Abstract】 The parallel mechanism is a kind of robot structure. It has the characteristics of high accuracy, rigidity, speed, and large load carrying capability. Researching the problem of type synthesis of parallel mechanisms is propitious to obtaining new parallel robotic mechanisms in practical application, and lays the foundation for the design and manufacture practical parallel robot. On the other hand, it helps to work up a common technique of type synthesis and has a higher value theoretically.This paper focuses on the synthesis of the parallel mechanisms based on modificatory Grubler’s formula and aims to establish a universal and effective theory for parallel mechanisms with overconstrained. The main contributions are as follows:A systematic linkage technique and a topology matrix-graph approach are put forward for type synthesis of parallel mechanisms with consstrained. By using the systematic linkage technique, numerous acceptable associated linkages of parallel mechanism can be derived. From the acceptable associated linkage and by using the approach of topology matrix-graph, topology embryonic graphs and topology graphs of various parallel mechanisms can be derived ,as the foundation of studying the subject of type synthesis further.Based on the geometric constraints and dimension driven techniques, a novel computer aided geometric approach is put forward for designing the computer simulation mechanisms of parallel manipulators. Some spacial parallel simulation mechanisms with overconstrained are configurate. When the driving dimensions of driving limbs are modified, the configuration of the simulation mechanisms are varied correspondingly. The correctness of the DOF and movability of parallel mechanisms synthesized in this paper can be validated. The research work of this dissertation establishes theoretical basis for the further research of type synthesis of parallel mechanisms.更多还原