Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations
Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations
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DOI：
10.1016/j.euromechsol.2004.08.006
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发表时间：
2004-11
影响因子：
4.1
通讯作者：
G. Gogu
中科院分区：
文献类型：
--
作者：
G. Gogu
提出了一种基于线性变换理论的全各向同性平移并联机器人结构综合新方法。TPM是一种三自由度并联机构，其输出杆（称为平台）可以实现相对于固定基座的三个独立正交平移运动。本文提出的机械手有三个腿连接移动平台和基础（固定平台）。每个腿只有一个运动副由位于固定基座上的线性电机驱动。驱动关节空间和运动平台的操作空间之间存在一一对应关系。本文提出的全各向同性TPM的雅可比矩阵是贯穿整个工作空间的单位3×3对角矩阵。本文提出的综合方法，使我们能够获得所有的结构解决方案的完全各向同性的TPM系统的方式。过约束/均衡的解决方案与基本/复杂和相同/不同的腿。全各向同性的TPM具有简单的命令和重要的节能的优点，由于这样的事实，即，对于单向平移，只有一个电机的工作作为一个串行平移机械手。
The paper presents a new structural synthesis approach of fully-isotropic translational parallel robotic manipulators (TPMs) based on the theory of linear transformations. A TPM is a 3-DOF (degree of freedom) parallel mechanism whose output link, called platform, can achieve three independent orthogonal translational motions with respect to the fixed base. The manipulators presented in this paper have three legs connecting the moving platform and the base (fixed platform). Only one kinematic pair per leg is actuated by a linear motor situated on the fixed base. A one-to-one correspondence exists between the actuated joint space and the operational space of the moving platform. The Jacobian matrix of fully-isotropic TPMs presented in this paper is the identity 3×3 diagonal matrix throughout the entire workspace. The synthesis method proposed in this paper allows us to obtain all structural solutions of fully-isotropic TPMs in a systematic manner. Overconstrained/isostatic solutions with elementary/complex and identical/different legs are obtained. Fully-isotropic TPMs have the advantage of simple command and important energy-saving due to the fact that, for a unidirectional translation, only one motor works as in a serial translational manipulator.