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一种无耦合移动并联机器人机构的结构设计与运动学分析.docx

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一种无耦合移动并联机器人机构的结构设计与运动学分析 Title:ADesignandKinematicAnalysisofaDecoupledMobileParallelRobotMechanism Abstract: Thedevelopmentofefficientandversatilerobotmechanismsplaysacriticalroleinvariousindustrialandscientificdomains.Inthispaper,weproposeadecoupledmobileparallelrobotmechanismthatexhibitsenhancedflexibility,maneuverability,androbustness.Ourstudyincludesacomprehensivestructuraldesignandathoroughkinematicanalysisoftheproposedmechanism.Thedecouplednatureofthisdesignimpliesthatthemechanismoperateswithoutanydirectmechanicalcouplingbetweenitsconstituentmodules. 1.Introduction: Mobileparallelrobotmechanismshavegainedattentionduetotheirabilitytoperformcomplextasksinchallengingenvironments.However,theinherentcouplingbetweenthemotionofindividualmodulescanlimittheagilityandindependenceofthesesystems.Toovercomethislimitation,weintroduceadecoupledmobileparallelrobotmechanismthatenablesindividualmodulestomoveindependently,therebyenhancingtheoverallperformanceofthesystem. 2.StructuralDesign: Thedesignofthedecoupledmobileparallelrobotmechanismconsistsofseveralkeycomponents,includingabaseplatform,multiplemobilemodules,connectionarms,andendeffectors.Thebaseplatformservesasastablefoundationandhousesthenecessarycontrolandpowersystems.Eachmobilemoduleisequippedwithitsownpropulsionmechanism,allowingforindependentmovement.Connectionarmsenablethemobilemodulestoconnectwiththebaseplatform,providingsupportandstabilityduringoperation.Endeffectorsareattachedtothemobilemodulesandserveasthefunctionalelementsoftherobot,enablingittoperformvarioustasks. 3.KinematicAnalysis: Thekinematicanalysisoftheproposeddecoupledmobileparallelrobotmechanisminvolvesderivingtheequationsthatgoverntherelationshipbetweentheindividualmodulemovementsandtheresultingoverallmotionofthesystem.ByemployingamathematicalmodelbasedontheDenavit-HartenbergparametersandtheForwardKinematicEquations,wedeterminetheposition,orientation,andvelocityofeachmoduleatanygivenpointintime.Moreover,weinvestigatetheeffectofperturbationsonthesys