一种可重构平面并联机器人的运动传递性能OA

The configuration and scale of the traditional parallel mechanism are fixed,so its performance is fixed,and it is generally not suitable for uncertain and changeable complex application scenarios.A planar parallel mechanism that can be reconfigured into 19 686 topological configurations is designed.The motion transmission performance of the pre-reconfiguration and post-reconfiguration is analyzed and applied to a variable cell manipulator.First,a metamorphic device is designed to realize the metamorphic of the planar motion pair and the geometric reconfiguration and topology reconfiguration of the parallel mechanism.Second,taking the two working modes of 3-RRR and 3-RPR as examples,the reconfiguration method of parallel mechanism is explained in detail.Then,the motion transmission performance model of the parallel mechanism is configured by using the reciprocity theory between spinors,and the performance index values are calculated.Research results show that the motion transmission performance of the parallel mechanism is improved by 96.6%through reconfiguration.Finally,based on the index value,it is easy to identify all the singular configurations of the mechanism.The research conclusions lay a theoretical foundation for the promotion and application of reconfigurable parallel robots.