STUDY AND APPLICATION OF WORKSPACE ON HOOKE JOINT IN PARALLEL ROBOT

Abstract

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

CLC Number:

TP242

SUN Lining;YU Lingtao;DU Zhijiang;CAI Hegao. STUDY AND APPLICATION OF WORKSPACE ON HOOKE JOINT IN PARALLEL ROBOT[J]. , 2006, 42(8): 120-124.

[1]	LI Jianan, WEI Zhaocheng, FENG Jingyang, WANG Xueqin. Integral Impeller Fillet-end Milling Cutter Five-axis U Cycloid Stripping Milling Path Planning [J]. Journal of Mechanical Engineering, 2024, 60(7): 212-223.
[2]	JIA Kang, WANG Hao, REN Dongxu, HONG Jun. An Installation Model and Interference-free Design Method for Cylindrical Power Skiving Tools [J]. Journal of Mechanical Engineering, 2024, 60(5): 352-361.
[3]	SHAO Haidong, LIN Jian, MIN Zhishan, MING Yuhang. Improved Semi-supervised Prototype Network for Cross-domain Fault Diagnosis of Gearbox under Out-of-distribution Interference Samples [J]. Journal of Mechanical Engineering, 2024, 60(4): 212-221.
[4]	LI Ying, ZHANG Jiafang, ZHANG Zhaoyong, WANG Xincheng, ZHANG Jin, KONG Xiangdong. Design of Minimum Diameter of Piston Neck in Swashplate Axial Piston Pump [J]. Journal of Mechanical Engineering, 2024, 60(4): 430-437.
[5]	WANG Yukun, YI Cai, WANG Hao, ZHOU Qiuyang, RAN Le, WANG Jingyuan. Adaptive Frequency Band Division Method Guided by PSD and Its Application in Bearing Fault Diagnosis [J]. Journal of Mechanical Engineering, 2024, 60(17): 179-193.
[6]	QI Qi, LIU Lixiang, YANG Jixiang, DING Han. Interference-free Path Planning for Robot Spraying for Multi-body Blades [J]. Journal of Mechanical Engineering, 2024, 60(1): 210-219.
[7]	YANG Siwei, GAO Guoqiang, LIU Kai, ZHOU Shuyuan, CHEN Kui, TANG Yujing, XIN Dongli, WU Guangning. Narrowband Interference Suppression of Partial Discharge for High-speed Train on Singular Spectrum Analysis [J]. Journal of Electrical Engineering, 2023, 18(3): 46-53.
[8]	HUANG Tudi, PENG Zhaochun, BAI Song, HUANG Hongzhong, CAI Wubin. Probabilistic Double Linear Damage Accumulation Model and Time-dependent Reliability Analysis of Mechanical Structure [J]. Journal of Mechanical Engineering, 2023, 59(16): 117-127.
[9]	QI Qi, YANG Jixiang, DING Han. Robot Pose Optimization and Joint Path Smoothing Method for Aero-engine Complex Casing Deep Cavity Measurement [J]. Journal of Mechanical Engineering, 2023, 59(15): 17-27.
[10]	Zhedong Ma, Shuo Wang. Prediction and Measurement Techniques for Radiated EMI of Power Converters with Cables [J]. Chinese Journal of Electrical Engineering, 2022, 8(4): 1-10.
[11]	Hong Li, Siyi Wang, Chongmo Zhang, Bo Zhang. Dual-current-injection CSCC Active Common-mode EMI Filters with High Insertion Loss for DC-DC Converters^* [J]. Chinese Journal of Electrical Engineering, 2022, 8(4): 19-29.
[12]	LUO Laizhen, ZHAO Huan, WANG Hui, LI Xiangfei, DING Han. Pose Optimization and Tool Path Planning for Robotic Grinding of Complicated Curved Surface [J]. Journal of Mechanical Engineering, 2022, 58(3): 284-294.
[13]	Dong Jiang, Zhenyu Wang, Wenjie Chen, Jianrui Liu, Xuan Zhao, Wei Sun. Common-mode Electromagnetic Interference Mitigation for Solid-state Transformers [J]. Chinese Journal of Electrical Engineering, 2022, 8(3): 22-36.
[14]	ZHOU Dan, WU Liang, XU Yi, LAN Sen. Experimental Study on the Effect of Laser Pit Texture on Bearing Capacity of Interference Fit in Service [J]. Journal of Mechanical Engineering, 2022, 58(23): 208-217.
[15]	LI Zhinong, CHEN Shiyao, QIAO Fang, ZHOU Shijian, WANG Dong. Vibration Characteristics of a Rotor System with Coupling of Insufficient Interference Fit of Disc-Shaft and Pedestal Looseness [J]. Journal of Mechanical Engineering, 2022, 58(11): 109-119.

STUDY AND APPLICATION OF WORKSPACE ON HOOKE JOINT IN PARALLEL ROBOT

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments