面向狭长空间的三自由度并联机器人设计与建模OA北大核心CSTPCD

Parallel robots are widely studied for the advantages of high stiffness,stable structure,large bearing capacity and small motion load,and have been widely used in agricultural and industrial fields.Due to the distribution of branch chains,most of the existing parallel robots cannot work in a long and narrow space while having a large working space.Therefore,for the narrow and long working environment,a three-degree of freedom parallel mechanism was proposed.The whole mechanism was arranged along a linear guide rail direction,reducing the width perpendicular to the guide rail direction,so that it was easy to fit into a narrow space,while having a large working space,and realizing translational motion on three degrees of freedom.The degree of freedom of the mechanism was calculated by G-K formula and the rationality of the design of parallel robot was verified.The kinematics and dynamics of the platform were analyzed.The singularity was analyzed by genetic algorithm.Finally,the kinematics and dynamics simulation were carried out in ADAMS software,by comparing with the mathematical model in Simulink software,the error of the two results was generally less than 0.05％,which showed that the mathematical model was correct.The working space of the mechanism was analyzed by analytical method.The research results can provide an idea and structure for 3-DOF parallel robot working in narrow and long space.It can also provide a theoretical basis for the mathematical modeling of the structure.