DOI：10.3969/j.issn.1672-3872.2024.07.003
作 者：叶 秋 ，夏宁明 ，宋代平 （重庆大学机械与运载工程学院，重庆 400030）
摘 要：【目的】满足汽车表面加工与车漆喷涂的任务需求，利用机器人进行协同甚至自主完成加工、美化工作，提高工作效率。【方法】设计了一款具备多自由度的汽车车身制造与喷漆机器人，采用3-RPS并联机构作为执行部件支撑件，针对机器人的结构设计特点，主要对机器人末端3-RPS并联机构支撑部分的机构构型和整体运动采用螺旋理论进行分析，利用闭环支链 建立机构运动学模型。【结果】利用MATLAB和Admas View软件分别完成了运动学方程求解和运动学仿真，两者结果误差在3%以内。【结论】仿真值与分析值的误差较小，在可忽略范围内，所建立的设计机构运动学方程有效可行，可以利用此结果进行进一步的机器人运动控制设计与相关研究。
关键词：并联机构；螺旋理论；运动学模型
Kinematics Analysis of 3-DOF Parallel Mechanism Based on Screw Theory
Ye Qiu, Xia Ningming, Song Daiping
(College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400030)
Abstract: [Objective] To meet the task requirements of automotive surface processing and paint spraying, and to use robots to collaborate or even independently complete processing and beautification work, improving work efficiency. [Method] A multi degree of freedom automobile body manufacturing and painting robot has been designed, using a 3-RPS parallel mechanism as the executive component support. Based on the structural design characteristics of the robot, the mechanism configuration and overall motion of the support part of the 3-RPS parallel mechanism at the end of the robot were mainly analyzed using screw theory; establish a kinematic model of the mechanism using closed-loop support chains. [Result] The kinematic equations were solved and kinematic simulations were completed using MATLAB and Admas View software, respectively, with an error of within 3%. [Conclusion] The error between simulation values and analysis values is small, and within a negligible range, the established kinematic equations of the design mechanism are effective and feasible. This result can be used for further robot motion control design and related research.
Keywords: parallel mechanism; screw theory; kinematic model
引文信息：[1]叶秋，夏宁明，宋代平.基于螺旋理论的3自由度并联机构运动学分析[J].南方农机，2024，55(7)：11-17.
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