偏置式Delta并联机构的运动学分析

 具有3 个平移自由度的Delta 并联机构因所有运动副均采用转动铰链而愈来愈引起研究者的重视。偏置量的存在虽降低了加工、制造、装配的难度,但其运动学分析的难度大大增加。本文利用消元法对偏置式Delta 并联机构的正逆运动学进行了深入分析,求出了所有数值解。并采用几何图解法验证了位置正逆解的正确性。在运动学分析过程中引入了矢量分析,使得消元法求解过程十分简便。通过偏置式Delta 并联机构的运动学分析可以证明,某些观点并不准确。

Kinematics of Delta Parallel Mechanism with Offsets

Delta parallel mechanism has attracted more attention since it has 3 translational degrees of freedom and employs only revolute joints. The existence of offsets has made it easy to manufacture at low cost. However, it increased the difficulty of kinematic analysis. A closed form solution of both forward and reverse kinematics for the 3 DOF Delta parallel mechanism with offsets is developed by applying the dialytic method of elimination in this study. A geometric analysis method is also applied to confirm the results. It is shown geometrically that there are 14 real solutions to the forward kinematics problem on condition that all legs are symmetrical and the links length of each leg is the same. Application of the vector operation simplified the course of kinematic analysis. Finally, some inaccurate points of view are also indicated in this paper.