论文标题
三重剪刀扩展器：一个6型吊顶和定位机器人
Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot
论文作者
论文摘要
我们提出了一种新型的6 DOF机器人机制，用于达到高天花板并定位最终效果。最终效应器具有三种剪刀机制，它们延伸到天花板上，有6个独立的线性执行器移动各个剪刀的基本末端。每个剪刀的最高点连接到位于顶部三角形板的三个顶点的三个球接头之一，持有最终效果。基部6个线性致动器的协调运动使最终效应器能够以任意方向达到任意位置。提出了三重剪刀扩展器的设计概念，然后进行运动模型和分析，分析了雅各布相关的执行器速度与最终效应速度。为了表征运动特性的不同配置，确定了雅可比亚特征值的逆特征值。概念证明的原型已设计和建造。通过实验评估用于差异控制的逆雅可比元素。
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of each scissor is connected to one of three ball joints located at the three vertices of the top triangular plate holding the end-effector. Coordinated motion of the 6 linear actuators at the base allows the end-effector to reach an arbitrary position with an arbitrary orientation. The design concept of the Triple Scissor Extender is presented, followed by kinematic modeling and analysis of the the Inverse Jacobian relating actuator velocities to the end-effector velocities. The Inverse Jacobian eigenvalues are determined for diverse configurations in order to characterize the kinematic properties. A proof-of-concept prototype has been designed and built. The Inverse Jacobian for use in differential control is evaluated through experiments.
