【作者】 杨宏兵；

【导师】 高荣慧；

【作者基本信息】 合肥工业大学 ， 机械电子工程， 2004， 硕士

【摘要】 6-SPS并联机器人相对于串联机器人来说是一种全新的机器人，具有刚度大、承载能力强、误差小、精度高及运动性能好等优点。而并联机器人是一种闭环机构，导致了其运动学和工作空间分析较为困难。因此，研究6-SPS并联机器人的运动学和工作空间具有重要意义，也有助于并联机器人的研究、应用和推广。 根据6-SPS并联机器人反解容易、正解较难的特点，本论文基于位置反解方程，通过杆长逐次逼近的思路建立了位置正解模型，并对该方法进行了实例验证。运用运动影响系数法及刚体运动原理推导了6-SPS并联机器人速度和加速度的正反解模型，并研究了其运动可视化的问题。在分析了影响并联机器人工作空间的约束前提下，通过边界数值搜索的方法，得到了工作空间的形状及其大小。 由已建立的运动学和工作空间的数学模型，采用参数化设计和人机交互相结合的方法，设计了6-SPS并联机器人运动学和工作空间的仿真系统，该仿真系统对提高并联机器人的设计效率具有一定的价值。 最后，根据仿真得到的结果，对6-SPS并联机器人的运动学和工作空间进行了分析研究。更多还原

【Abstract】 The 6-SPS parallel robot is a new kind of robots in comparision to conventional serial robots. It has more advantages over serial robots in terms of stiffness, high load/wight ratio, precision, velocity, and low error. However, it is rather difficult to analyze the kinematics and workspace of parallel manipulators due to its specific closed-loop. So, the research will be of great significance, and can help to promote its research, application and spread too.Based on inverse equation, the forward solution model of position is presented in this thesis through method of successive approximation, for parallel robots possess characteristic of easy inverse solution and difficult direct solution. The method is proved to be highly effective by simulation example. The direct and inverse models of velocity and acceleration are founded by approach of influence coefficient and principle of rigid body moving, and furthermore, studies its movement-viewed problem. Given multiple restrictions of workspace, the shape and volume of workspace are gained through method of boundary numerical search.Under mathematics model of kinematics and workspace, the simulation system of kinematics and workspace are developed through the method that combines parametic design with interactive design. It is valuable for the simulation system to improve designing efficiency.Finally, the kinematics and workspace of 6-SPS parallel manipulator are analyzed and researched by simulation results.更多还原