摘要
提出一种改进型的并联机器人结构即6-THH并联机器人。6-THH并联机器人是由6个相同的支链构成,滑块与连接杆以及连接杆与动平台间为虎克铰联接。搭建了6-THH并联机器人运动控制以及误差补偿的硬件系统。基于6-THH并联机器人的优点,将其应用于螺旋锥齿轮齿顶倒角的铣削加工。
An improved version of the parallel robot structure that is 6-THH parallel robot.6-THH parallel robot is from the same six branched-chain composition, the slider and the connecting rod and connecting rod with the moving platform for Hooke hinge connection, which erect of 6-THH Parallel robot motion control and error compensation of the hardware system.Based on 6-THH advantages of parallel robot, it will be applied to spiral bevel gear chamfering the milling process.
出处
《现代制造技术与装备》
2009年第3期4-,27,共2页
Modern Manufacturing Technology and Equipment
