一种构型简单的新型三平动微动并联机器人

doi:10.3969/j.issn.1001-2400.2017.04.010

西安电子科技大学学报

一种构型简单的新型三平动微动并联机器人

赵泽;仇原鹰;段学超

(西安电子科技大学电子装备结构设计教育部重点实验室，陕西西安 710071)

收稿日期:2016-10-30 出版日期:2017-08-20 发布日期:2017-09-29
作者简介:赵泽(1962-)，男，副教授，E-mail: xazhaoze@sina.com
基金资助:
国家自然科学基金资助项目(51175397)

Novel 3-DOF micro translational parallel manipulator

ZHAO Ze;QIU Yuanying;DUAN Xuechao

(Ministry of Education Key Lab. of Electronic Equipment Structure, Xidian Univ., Xi'an 710071, China)

Received:2016-10-30 Online:2017-08-20 Published:2017-09-29

摘要/Abstract

摘要：

针对中央处理器晶振主动减振狭小安装空间、小幅高频运动的需求,提出一种直线驱动、仅有6个运动副的三平动并联机器人构型，设计外形仅75mm×67mm×25mm，可在(±2mm)×(±2mm)×(±2mm)范围内实现50Hz运动的三平动机器人，并仿真验证了设计的有效性．该构型机器人具有输入运动与输出运动间恒定雅克比变换矩阵的特点，易于实现实时控制，既可用于主动减振控制，也可用于工业机器人末端、各种精密机械、光学测试平台的微位移调整以及并联机床的设计等．

关键词: 并联机器人, 构型, 运动学, 雅克比变换矩阵

Abstract:

Aiming at the active vibration control for a CPU crystal oscillator in electronic equipments, a novel 3-DOF (degree of freedom) micro translational parallel manipulator with linear driving and six passive joints is presented. It possesses the dimension of 75mm×67mm×25mm, and performs 3-DOF translational motions at 50Hz within a space of (±2mm)×(±2mm)×(±2mm). Finally a computational simulation validates the novel design. Its configuration is chiefly characterized by a constant Jacobian matrix between input and output, which facilitates the implementation of real-time control. It can be used not only for active vibration control, but also for industrial robots, precision machineries, optical testing platforms and the design of parallel machine tools.

Key words: parallel manipulators, configuration, kinematics, Jacobian matrices

赵泽;仇原鹰;段学超. 一种构型简单的新型三平动微动并联机器人[J]. 西安电子科技大学学报, 2017, 44(4): 51-55+131.

ZHAO Ze;QIU Yuanying;DUAN Xuechao. Novel 3-DOF micro translational parallel manipulator[J]. Journal of Xidian University, 2017, 44(4): 51-55+131.

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一种构型简单的新型三平动微动并联机器人

Novel 3-DOF micro translational parallel manipulator

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