机器人学基础Robotics-Chap08(supplementary parallel mechanism).pdfVIP

Supplementary: Parallel Robots Benefit:Benefit: increaseincrease thethe stiffnessstiffness ofof thethe mechanism.mechanism. ImproveImprove accuracyaccuracy because errors are dispersed. Disadvantage:Disadvantage: reducereduce thethe allowableallowable rangerange ofof motionmotion ofof thethe jointsjoints andand thus decrease the workspace size. Mechanism:Mechanism: • Stewart mechanism (Stewart-Gough platform) • DeltaDelta mechanismmechanism • Eclipse mechanism • othersothers Structure and DOFs Stewart Mechanism ((alternative to the serial 6-DOF manippulator)) Structure:1 base, 1 end-effector, 6 linear actuators. Connection: At the based end, 2-DOF universal joints. At the end- effector, 3-DOF ball-and -socket joint. (6 ×UPS) Kinematic characteristics: opposite to serial-chain manipulators, forward kinematics are not trivial, whereas inverse kinematics are trivial. The number of DOF is not obvious. Grübler formula: F - total number of DOF ll - numbernumber ofof linkslinks (including(including thethe base)base) n - total number of joints ff i - numbernumber ofof DOFDOF associatedassociated withwith thethe iithth joint EXAMPLE 8.2 Use Grübler formula to verify that the Stewart mechanism indeed has six deggrees of freedom. The number of joint is 18 (6 universal, 6 ball and socket, 6 prismatic), n = 18. The number of links is 14 (2 parts for each actuator, the end-effector, and the base), l = 14. The sum of all the joint freedoms is 36 (6 ×2+6 ×3+6 ×1=36). The total number of DOF: FF = 66 ××((1414-1818-1)1)+3636 = 66 Some other version of the Stewart-Gough platformplatform thethe sixsix universaluniversal jointsjoints areare replaced by spherical joints. 12 DOF Delta机构 结构：1个动平台、1个静平台、3根主动杆、3个平行四边形从动支链。每条运 动链中有一个由四个球铰与杆件组成的平行四边形闭环,此闭环再与一个带转动 关节的驱动臂相串联关节的驱动臂相串联。 自由度计算： 杆件数杆件数ll = 1717 运动副个数n = 21 总的关节自由度数：SUM = 3 ×6 + 1 ×15 = 33 （（注意注意：该机构具有局部冗余自由度该机构具有局部冗余自由度,即球铰之间的连杆可以绕自身轴转动即球铰之间的连杆可以绕自身轴转