• CN:11-2187/TH
  • ISSN:0577-6686

›› 2002, Vol. 38 ›› Issue (12): 49-53.

• 论文 • 上一篇    下一篇

平面2自由度驱动冗余并联机器人的机构设计

张立杰;刘辛军   

  1. 燕山大学机械工程学院;清华大学
  • 发布日期:2002-12-15

ON THE DESIGN OF THE PLANAR 2-DOF PARALLEL MANIPULATORS WITH ACTUATION REDUNDANCY

Zhang Lijie;Liu Xinjun   

  1. Yanshan University Tsinghua University
  • Published:2002-12-15

摘要: 机器人机构参数的设计是极其复杂的难题。研究一种平面2自由度驱动冗余并联机器人的机构设计方法,首先建立了该并联机器人机构的空间模型,在此基础上探讨了该并联机器人机构的工作空间性能指标与杆件尺寸之间的关系,并绘制了相应的性能图谱,这些图谱是该并联机器人的机构设计的重要参考依据,该方法为实现并联机器人机构设计的计算机辅助设计提供了一种简单、有效途径。

关键词: 并联机器人, 机构设计, 空间模型, 性能图谱

Abstract: The design of a manipulator is one the important issues in the field of robots. Based on the theory of the physical model of the solution space, the design of the planar 2-DOF parallel manipulators with actuation redundancy is discussed. The physical model of the solution space for the manipulators is established. And the atlas for the workspace of the manipulators is plotted. The atlas is very useful for the design of the manipulators with respect to workspace index. The method can also be applied to the design of other manipulators.

Key words: Mechanical design Physical model of the solution space Performance atlases, Parallel manipulators

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