关键词: 并联机器人, 干涉, 工作空间, 胡克铰

Abstract: The key problems of the application of Hooke joint on parallel robot are presented. With the working space of Hooke joint is studied and simulated, two methods are put forward and the exact expression of the workspace of conjugated Hooke joint is calculated. The research result is applied in both the optimal design of the parameters and the interference check in the mechanism of 6-PTRT parallel robot, which makes the robot have larger work space. Simultaneously, the interference of gemel is avoided successfully. All of the results are useful in optimizing design of the robot, reducing motion control algo-rithm, and improving mechanical performance and security.

Key words: Hooke joint, Interference, Parallel robot Workspace