YS—I并联机器人的运动分析

本文根据YS-I并联机器人的结构特点,在速度和加速度分析过程中,以上平台虎克铰中心作为研究的关键点,首先通过对位置反解显式直接求导建立该关键点与液压缸之间的关系,然后通过矢量运算得到液压缸输入与夹持器输出之间的一、二阶影响系数矩阵.在影响系数的推导过程中避免了与上平台转动参数发生联系,所导出的一、二阶影响系数矩阵只与液压缸的单位矢量和夹持器中心到上平台虎克铰中心的位置矢量有关,使加速度求解的方法大为简化.

Kinematic Analysis of YS-I parallel Robot Manipulator

In according with the construction character of parallel robot manipulator, the process of velocity and acceleration is analyzed with the Hook joint center of the top platform is taken to be key point. The relationship between the key point and input is established by direct derivation for position inverse solution at first, then, the first-order and second-order influence coefficient matrices are obtained by vector calculation. Because the method avoids the rotating parameters of top platform in the derivation Procedure of influence coefficient, the matrices only related to the unit vector of hydraulic cylinder and the position vector from grasper to the Hook joint center of top platform. This method makes acceleration calculation simple greatly.