The number of degrees of freedom is equal to the number of the traditional robot driving motors,which causes defects such as low efficiency.To overcome that problem,based on the traditional parallel robot,a new underactuated parallel robot is presented.The structure characteristics and working principles of the underactuated parallel robot are analyzed.The forward and inverse solutions are derived by way of space analytic geometry and vector algebra.The kinematics model is established,and MATLAB is implied to verify the accuracy of forward and inverse solutions and identify the optimal work space.The simulation results show that the robot can realize the function of robot switch with three or four degrees of freedom when the number of driving motors is three,improving the efficiency of robot grasping,with the characteristics of large working space,high speed operation,high positioning accuracy,low manufacturing cost and so on,and it will have a wide range of industrial applications.%传统并联机器人具有自由度数量与驱动电机数量相等的问题,效率低下.为解决这些问题,提出了一种基于传统并联机器人的新型欠驱动型并联机器人.分析了欠驱动型并联机器人的结构特点与工作原理,应用空间解析几何与向量代数法,推导了机器人的运动学正解与反解.建立了运动学模型,应用MATLAB验证了运动学正解与反解的正确性,确立了最优工作空间.仿真结果表明,驱动电机数量为3时实现了机器人3或4自由度切换的功能,提高了机器人的抓取效率,具有工作空间大、运行速度快、定位精度高、制造成本低等特点,具有广泛的工业应用前景.
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