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Delta机器人的尺度综合方法研究 被引量:4

Dimensional synthesis of delta parallel robot
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摘要 尺度综合是并联机器人运动学设计的最终目标.为此,本文针对Delta机器人提出了一种最优尺度综合方法.首先对机构进行运动学分析得到局部灵活度的性能评价指标,其次将局部性能评价指标综合为全域性能指标,并将尺度综合问题归结为一类参数优化问题.上述方法对这类高速轻型并联机器人以及其它并联机构的运动学设计理论有一定指导意义.
机构地区 天津大学
出处 《机械设计》 CSCD 北大核心 2004年第z1期109-111,共3页 Journal of Machine Design
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参考文献6

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同被引文献13

  • 1王旭同,方坤,褚立峰,殷海源.Delta并联机器人的参数优化设计研究[J].煤矿机械,2005,26(7):38-40. 被引量:11
  • 2Tan D P, Ji S M, Jin M S. Intelligent computer- aided instruction mod- eling and a method to optimize study strategies for parallel robot instruc- tion[J]. IEEE Transactions on Education, 2013,56(3) :268 -273.
  • 3Kunt E D, Naskali A T,Sabanovic A. Miniaturized modular manipu- lator design for high precision assembly and manipulation tasks [ J ]. in The 12th IEEE International Workshop on Ad,aneed Moti)n Con- trol, Sarajevo, B&H,2012.
  • 4Yu D. Parallel robots pose accuracy compensation using back propa- gation network [ J ]. Interactional Journal of Physical Sciences, 2011, 6(21 ) :5005 -5011.
  • 5Stan S D, Manic M, Szep C, et al. Performance analysis of 3 DOF Delta parallel robot. Human System Interactions (HIS)[ C]. 2011 4th International Conference on, Yokohama, Japan, 2011:215 - 220,19 - 21.
  • 6Chu M, Chen G, Huang F J,et al. Active disturbance rejection control for trajectory tracking of manipulator joint with flexibility and friction [J]. Applied Mechanics and Matericls, 2013,325- 326:1229-1232.
  • 7Merlet J P,Daney D. Dimensional synthesis of parallel robots with a guaranteed given accuracy over a specific workspace [ C ]// Proceed- ings of the 2005 IEEE International Conference on Robotics and Au- tomation,April 18 - 22,2005, Barcelona, Spain. New York: IEEE, 2005:942 - 947.
  • 8Huang T,Li M, Li Z X, et al. Optimal kinematic design of 2 - DOF parallel manipulators with well - shaped workspace bounded by a specified conditioning index[ J]. IEEE Transactions on Robotics and Automation ,2004,20 (3) :538 - 543.
  • 9张利敏,梅江平,赵学满,黄田.Delta机械手动力尺度综合[J].机械工程学报,2010,46(3):1-7. 被引量:36
  • 10郭超,辛世界,李玉胜.两种坐标空间中Delta机器人轨迹规划仿真[J].制造业自动化,2014,36(4):49-51. 被引量:15

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