论文部分内容阅读
TriVariant-B是一种新型5自由度混联机械手,由一个2自由度球面并联机构和1条与之串接的两转动一移动串联运动链组成,具有工作空间/支链行程比大及可重构性强等优点.在建立其2自由度球面并联机构逆动力学模型的基础上,提出一种可根据对末端执行器速度及加速度要求,预估机构中伺服电机转子惯量、额定转速及峰值转矩的方法,并结合样机开发验证了该方法的有效性.
TriVariant-B is a new type of 5-DOF hybrid manipulator consisting of a 2-DOF spherical parallel mechanism and a series of two rotary-moving series kinematic chains connected in series. The TriVariant-B has a large workspace / branch stroke ratio Refactoring and so on.On the basis of establishing its 2-DOF inverse kinematics model of spherical parallel mechanism, this paper presents a new method that can estimate the rotor inertia, rated speed and acceleration of end effector according to the requirement of end effector speed and acceleration, Peak torque method, combined with the prototype developed to verify the effectiveness of the method.