Investigation of Kinematic Analysis and Applications for a 3-RRPS Parallel Manipulator

3-RRPS併聯式機械手臂運動學分析與應用之研究

紀岍宇(Chien-Yu Ji) ； 陳聰堅(Tsung-Chien Chen) ； 李永隆(Yung-Lung Lee)

《中國機械工程學刊》 28卷6期 (2007/12) Pp. 623-632

https://doi.org/10.29979/JCSME.200712.0009

摘要

本文係針對新型之並聯式三手臂六自由度運動平台進行運動學分析。本機構可視為史都華平台(Stewart Platform, 6-SPS)之相似機構，然經本文研究發現，在某些特定條件下的運動自由度，可以使用相對於6-SPS史都華平台機構較少的致動器數量來能達成該運動自由度的需求。本文即依此建立該機構的運動自由度與致動器使用數量的關係(RDA)。此可提供設計者於三手臂併聯式機構設計時，如何決定致動器數目以滿足不同運動自由度需求的參考依據，而此為6-SPS史都華平台機構法達成的優勢。最後，即運用本文所建立的機構運動自由度與致動器使用數量關係，除提出以額外的兩個致動器來改善3-RPS連動效應(Parasitic Motion)的方法外，並以三個致動器來設計偏航旋轉−升降的二運動自由度機構，此可說明本文所建立的機構運動自由度與致動器使用數量關係於運用上的廣泛性外，亦為本文的重要貢獻。

並列摘要

A study of the kinematic analysis and applications for a six degree-of-freedom (DOF) parallel manipulator with three legs is presented. The kinematic analysis results show that the fewer actuators can be utilized to achieve some particularly required DOF for moving platform as compared to Stewart-Gough platform. From above characteristics, the relations between the number of DOF and how many actuators are needed (RDA) for this mechanism can be established. The RDA can be a reference resource for mechanism designer to design a parallel manipulator with three legs and the minimum number of actuators for a specific design purpose of DOF. The above advantage cannot be achieved by the Stewart-Gough platform. Finally, according to the RDA, a method to overcome parasitic motion for 3-RPS mechanism by using two extra actuators, and design a 2-DOF parallel mechanism with Heave-Yaw (MWHY) using three actuators are proposed. These applications illustrate the practicality and extensive applications of the RDA.

並列關鍵字

Stewart-Gough platform ； parallel manipulator ； kinematics analysis ； parasitic motion