集成2R1T并联机构的艾灸辅疗机器人概念设计与运动学分析

设计一种用于艾灸辅疗的新型五自由度混联机器人机构，该机构由2UPS&1UPR&1UP并联模块和2R串联模块组成.首先，给出该混联机器人的概念设计方案，并运用螺旋理论分析2UPS&1UPR&1UP并联模块的自由度，建立该混联机构的运动学模型并推导其位置逆解的解析解，进而求得全局雅克比矩阵和奇异位型.在此基础上，采用“分层切片”的搜索方法得到该艾灸机器人的可达工作空间.最后，制作概念样机，并通过运动位姿实验验证运动学逆解与工作空间分析的正确性.研究表明，所提混联机器人机构具有大转角和大工作空间的性能优势，可以满足艾灸辅疗流程对器械运动形式与工作空间的需求.

Kinematic analysis and conceptual design for moxibustion robot incorporating 2R1T parallel mechanism

The research put forward a new type of 5-DOF hybrid robot mechanism for moxibustion adjuvant therapy. The mechanism is composed of 2UPS&1UPR&1UP parallel module and 2R series module. First, the conceptual design plan of the hybrid robot is clarified, the degree of freedom of the 2UPS&1UPR&1UP parallel module is analyzed by using the screw theory, Next, the kinematics model of the hybrid mechanism is established and the analytical solution of the position inverse solution is derived, and then the global Jacobian matrix and singularity type are obtained. On this basis, the "layered slice" search method is adopted to obtain the reachable working space of parallel modules. Eventually, a conceptual prototype was made and the correctness of the inverse kinematics solution and workspace analysis was verified through motion pose experiments. Research shows that the proposed hybrid robot mechanism has the performance advantages of large turning angle and large workspace, which can meet the requirements of the moxibustion auxiliary treatment process for the form of instrument movement and the workspace.