并联机器人机构构型创新设计研究

RESEARCH ON PARALLEL ROBOT CONFIGURATION CREATIVE DESIGN

提出一种并联机器人机构构型创新设计新方法——桁架推演法,该方法包括三个主要步骤:根据具体设计需求选择自由度为0的并联机构桁架,并选择适当的推演规则;在一定的约束条件下对桁架进行推演;对推演结果分析、判断和决策,得到新并联机构构型。最后举例说明了桁架和推演规则等对并联机器人机构构型创新设计具有决定性影响的关键技术问题。

A new method, truss inference method, is presented for parallel robot configuration creative design. When actuated joints are locked, a parallel robot becomes a truss with 0-DOF. So a parallel robot is combination of driving pairs and a truss. The proposed method includes three main steps: Selects appropriate parallel robot truss with 0 degree of freedom and inference rules considering design requirements; Generates a series of configurations available by truss inference; Finally obtain novel parallel robot configurations by further analysis and decision. Key techniques, such as truss and inference rules, are detailed discussed. A design cases are given to illuminate the proposed method.