一种新型四自由度并联机器人

提出一种用铅垂导轨上 4个滑块作为原动件的新型四自由度并联机器人 .该并联机器人的动平台能够实现两个方向的移动以及绕两个方向轴线的转动 .研究了该并联机器人的运动学建模方法 ,给出了运动学正、逆解 ,用 Grassmann几何法分析了该并联机器人在其工作空间内不会出现奇异形位 .基于该四自由度并联机器人可以非常方便地开发具有大工作空间的五轴联动数控机床

A novel 4degree-of-freedom parallel platform manipulator which is actuated by four sliders is presented. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematics and forward kinematics. It is very easy to develop a 5axis NC machine-tool which is of larger-workspace based on the 4degreeoffreedom parallel mechanism presented in this paper.

国家“九五”攻关课题资助项目 (96 A2 2 0 10 3);;中国科学院机器人学开放研究实验室资助项目 (RL 199811)