五自由度串—并联机器人机构性能的分析与分析-analysis and analysis of mechanism performance of 5 - dof serial-parallel robot.docxVIP

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五自由度串—并联机器人机构性能的分析与分析-analysis and analysis of mechanism performance of 5 - dof serial-parallel robot.docx

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五自由度串—并联机器人机构性能的分析与分析-analysis and analysis of mechanism performance of 5 - dof serial-parallel robot

Abstract - II - Abstract In this paper, a new type 5-dof series-parallel robot RP-2RRU/RUU had been researched, analysing the related theory and developing the prototype. First, the paper introduces its working situation and its performance index. Using the screw theotry calculates its degree of freedom. The mechanism has 5 degree of freedom：translating along X 、Y and Z axisand rotating on X and Z axis. Secondly, the paper combined “Loop Equation Method” with “Solving the Fixed-length Linker Method” to derive the inverse kinematic resolution. Based on the inverse kinematic resolution analyzed the velocity and derivated the jacobian matrix ,which provides the theory basis for the following content. Thirdly,through the singularity analysis got the singular track.Setting up the workspace model to analyse its working space. Using software MATLAB optimizated the structure size, basing on the working space, and condition number in the whole domain. Analysis the deformation and displacement uses the software SOLIDWORKS SIMULATION. Finally, based on the following theoretical analysis designed the mechanical structure. And draw its parts picture.the prototype was developed and taked Some experiments. From the mechanism synthesis to theoretical analysis and the prototype development, the research has finished the design task and has important scientific research significance. Keywords: Hybrid, Kinematics, Workspace, Singularity, Optimization 目录 - PAGE 4 - 目录摘要 I HYPERLINK \l _bookmark0 Abstract II HYPERLINK \l _bookmark1 第一章绪论 1 HYPERLINK \l _bookmark2 1.1 课题来源及背景 1 HYPERLINK \l _bookmark3 1.1.1 课题来源 1 HYPERLINK \l _bookmark4 1.1.2 课题背景 1 HYPERLINK \l _bookmark5 1.2 国内外研究现状及分析 1 HYPERLINK \l _bookmark6 1.2.1 机器人在结构上的分类 1 HYPERLINK \l _bookmark7 1.2.2 机器人及其自动化生产线的国内外研究现状 4 HYPERLINK \l _bookmark8 1.3 主要研究内容7 HYPERLINK \l _bookmark9 第二章机构构型分析 8 HYPERLINK \l _bookmark10 2.1 引言 8 HYPERLINK \l _bookmark11 2.2 机