一种新型烹饪并联机器人的工作空间和灵活性分析.pdf

2009 6 June 2009 28 6 M echanical Science and Technology forA erospace Engineering Vol. 28 No. 6 1, 2 1 3 3 陈 原 , 李 兵, 刘小勇 , 耿凯平 1 2 ( , 518055; , 264209; 3 , 518067) : 提出了一种新型烹饪并联机器人, 该机器人可以实现专业 师烹饪的动作要求建立了机 器人的位置反解运动学方程, 给出驱动副和被动副的转角约束条件基于位置反解运动学方程及 其约束条件, 绘制了定姿态工作空间全姿态工作空间的轮廓图采用两点速度法解决了雅克比矩 阵中单位不一致的问题, 采用和机构位姿无关的全局条件数来衡量机构的灵活性 : 烹饪机器人; 并联机器人; 工作空间; 灵活性 : TP24 : A : 1003 8728( 2009) 06 0749 05 Workspace andDexterity Analysis of aNovelParallelCookingRobot 1, 2 1 3 3 Chen Yuan , Li Bing, L iu X iaoyong, Geng Kaiping 1 ( H arb in Institu te of Technology Shenzhen Graduate Schoo,l Shenzhen 518055; 2 School ofM echan ical and Electrical Engineering, Shandong University atW eiha,i Weihai264209; 3 Shenzhen Pansum Technology L mi ited Company, Shenzhen 518067) Abstract: A novel class of planar parallel robotw ith unsymmetrical architecture for automatic cooking is presented in this paper. The novel cooking robot can perform w ith four degrees of freedom ( DOF) which are needed by pro fessional chefcs cooking operations. The inverse kinematics equations of the robot are built. The constraint condi tions on the rotary angle of active joints and passive joints are given. Based on the inverse kinematics and the con straint conditions