CAJ | 학술논문

根据串、并联机器人机构综合理论,以二移动一转动串联机构和三转动自由度并联机构为主体,设计了1种能够实现空间平移、回转、升降、仰俯、横摇和偏转动作的六自由度串并联机构.通过对该机构进行分析研究,建立其运动学位姿方程,重点探讨了并联微调机构的运动学模型,建立了其位置逆解与速度映射解析方程,运用MATLAB软件对该机构进行了运动学仿真分析;同时提供了该串并联机构应用于隧道管片拼装机械手的具体实例.该机构具有工作空间大、转动灵活、稳定平衡、精度高及承载能力强的特点,可推广应用于农业种植采摘、林木伐运等机器人结构上.
근거천、병련궤기인궤구종합이론,이이이동일전동천련궤구화삼전동자유도병련궤구위주체,설계료1충능구실현공간평이、회전、승강、앙부、횡요화편전동작적륙자유도천병련궤구.통과대해궤구진행분석연구,건립기운동학위자방정,중점탐토료병련미조궤구적운동학모형,건립료기위치역해여속도영사해석방정,운용MATLAB연건대해궤구진행료운동학방진분석;동시제공료해천병련궤구응용우수도관편병장궤계수적구체실례.해궤구구유공작공간대、전동령활、은정평형、정도고급승재능력강적특점,가추엄응용우농업충식채적、림목벌운등궤기인결구상.
A six degrees of freedom serial-parallel manipulator with a three-rotation parallel mechanism and a three degrees of freedom serial mechanism (two-prismatic plus one-revolute) was synthesized and investigated according to the theories of the structure synthesis of robot mechanisms. It is able to perform spatial transformational movement, rotation, hoisting, tilting,planar rotation and tilted rotation. Based on configuration analysis, kinematic position equations were formulated, kinematic model of parallel fine-tuning structure was discussed as a key and inverse position analysis and velocity mapping equations were presented. Kinematic simulation of the mechanism was conducted using MATLAB software. A case study was provided,which applied the mechanism in tunnel erector assembling manipulators. The proposed mechanism possesses large work-space volume, high rotational flexibility, sound stability and balance, high precision and robust load capacity, and can be applied in robot system of planting and picking, as well as of forest cutting and transport.