| 孙鹏,朱奕名,叶家铭,李研彪.5PUS/RPUR并联机器人可操作性能研究[J].高技术通讯(中文),2026,36(7):767~774 |
| 5PUS/RPUR并联机器人可操作性能研究 |
| Research on operability of 5PUS/RPUR parallel robot |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 07. 011 |
| 中文关键词: 并联机器人； 闭环矢量； 逆雅克比； 力椭球； 可操作度椭球 |
| 英文关键词: parallel robots, closed loop vector, inverse Jacobi, force ellipsoid, operability ellipsoid |
| 基金项目: |
| 作者 | 单位 | | 孙鹏 | (浙江工业大学机械工程学院杭州 310023) | | 朱奕名 | | | 叶家铭 | | | 李研彪 | |
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| 中文摘要: |
| 本文以一种新型的五自由度并联机器人为研究对象，提供了一种逆运动学下求解其可操作度的方法。首先，对五自由度机器人建立运动学模型，分析得到机器人存在一条约束支链和5条驱动支链，利用Denavit-Hartenberg (DH)法和闭环矢量法得到了平台约束条件和速度、加速度映射方程；然后，利用逆雅克比矩阵得到机器人力椭球特征值与正向运动学定义的可操作度椭球相互结合的方法，分析平台的力和可操作性能。该研究对一些难以求解正向运动学的机器人分析可操作性能提供了计算方法，为本文所研究的五自由度机器人的进一步研究奠定了基础。 |
| 英文摘要: |
| This paper focuses on a novel five-degree-of-freedom parallel robot and presents a method for solving its manipulability under inverse kinematics. Firstly, a kinematic model of the five-degree-of-freedom robot is established, revealing one constraint limb and five actuation limbs. Using the Denavit-Hartenberg (DH) method and the closed-loop vector method, the platform constraint conditions as well as the velocity and acceleration mapping equations are derived. Then, by utilizing the inverse Jacobian matrix, a method combining the robot’s force ellipsoid eigenvalues with the manipulability ellipsoid defined by forward kinematics is presented to analyze the platform’s force and manipulability performance. This study provides a computational approach for evaluating the manipulability of robots with challenging forward kinematics solutions, laying a foundation for further research on the five-degree-of-freedom robot discussed in this paper. |
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