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提出一种新型平面二自由度并联机器人机构,其运动平台具有较小的惯量,且其输出为平面内的平动。以不同于传统的分析方法,综合考虑机器人驱动滑块的行程与机器人机构的几何尺寸,对它们量纲一化,得到了该机器人的设计空间。在设计空间内计算灵巧性性能指标值,并绘制了该机器人的灵巧性性能图谱。灵巧性性能图谱反映了该机器人灵巧性性能指标与机器人运动学参数之间的一一对应关系。该灵巧性性能图谱对于该新型机器人机构的设计是极为有用的,这里提出的新方法也为以移动副为驱动的并联机器人的机构设计提供了一种简单、全面而有效的新途径。
A new type of planar two-DOF parallel robot mechanism is proposed. Its moving platform has a small inertia and its output is in-plane translation. Different from the traditional analysis methods, taking into account the stroke of the robot-driven slider and the geometry of the robot mechanism, the dimension of the robot is obtained, and the design space of the robot is obtained. The dexterity performance index is calculated in the design space, and the dexterity performance map of the robot is drawn. The dexterity performance map reflects the one-to-one correspondence between the dexterity performance of the robot and the kinematic parameters of the robot. This dexterous performance profile is extremely useful for the design of this new robotic mechanism. The new method presented here also provides a simple, comprehensive and effective new approach to the design of the mechanism of a parallel robot driven by a pair of maneuvers.