五自由度混联机器人运动学性能评价
首先，本文分析了2UPR-UPRR三自由度并联机构和二自由度A/C串联转头组成的五自由度混联机器人结构特点，得出其并联部分在运动过程中始终通过一固定点的结论。此外，2UPR-UPRR机构作为位置型并联机构具有工作空间大等优点。45873
其次，基于矢量链法建立了2UPR-UPRR并联机构的闭环位置方程，解出机构位置逆解解析解，并通过仿真实例验证了其正确性，在此基础之上，借助方程求导和角速度叠加原理建立了机构的速度逆解模型和无量纲雅克比矩阵。
采用单调分析方法揭示出尺度参数对速度雅可比矩阵条件数全域均值和标准差的影响规律，进而为尺度参数优选提供理论依据。
最后，针对并联机构中的移动副开展了机械结构设计，该移动副结构采用电机-联轴器-滚珠丝杆副的传动形式，实现内筒相对于外筒的主动移动，所设计的移动副不仅具有较高的传动精度，且具有良好的刚性。
毕业论文关键词 并联机构 运动学性能评价 机械结构设计
毕业设计说明书外文摘要
Title Kinematic performance evaluation of a five degrees of freedom hybrid robot
Abstract
In this paper, we mainly study the kinematic performance evaluation of a five degrees of freedom hybrid robot which composed of a 2UPR-UPRR three degree of freedom parallel mechanism and a two degrees of freedom A / C series head, and study the robot in the P side mechanical structure design. The main results are as follows:
First of all, this paper analyzes the structure characteristics of the five degrees of freedom hybrid robot which composed of a 2UPR-UPRR three degree of freedom parallel mechanism and a two degrees of freedom of the A / C series head, and it is concluded that the parallel part in the movement process always through a fixed point of the conclusion. In addition, the 2UPR-UPRR mechanism has the advantages of large working space, and so on.
Secondly, based on vector chain method,this peper established 2UPR-UPRR parallel mechanism of the closed-loop position equation, solute mechanism and its inverse position solution of the analytical solution, and through a simulation example to verify its correctness.On this basis, the paper establish the mechanism velocity inverse solution model and dimensionless Jacobian matrix with Equation Derivation and the angular velocity superposition principle.
Using the monotone analysis method to reveal the influence of scale parameter of velocity Jacobian matrix condition number for the global mean and standard difference, and then to provide a theoretical basis for the scale parameter optimization.
Finally, for the parallel mechanism in mobile side,we carry out the design of mechanical structure, the mobile side structure by motor-coupling-ball screw rod pair transmission form.In order to realize the barrel with respect to the outer cylinder of the active mobile, the mobile vice not only has the advantages of high transmission accuracy but also good rigidity.
Keywords Parallel mechanism Kinematic performance evaluation Mechanical structure design
目 次
1 引言1
1.1 机器人国内外发展状况1
1.2 机器人运动学研究现状7
1.3 本课题研究背景、意义及主要工作8
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