一种平面微型并联机器人机构的尺度设计

Design of a kind of planar micro-parallel-robot mechanism

讨论了一种微型并联机器人机构的设计方法,该微型并联机器人机构类型是采用传统副连接的平面五杆机构。这种设计目的是把对相对运动有更大自由性的传统副连接的优点应用在微小机械中,以实现有较高精度的同时,还具有相对较大的工作范围、复杂的运动规律,但整个机构却有相对更简单的结构、更低的制造成本,以满足在某些应用场合下对精度要求相对较低的情况下的需要。文中最后以一具体设计示例来检验该种方法的可行性。

Here a designing method of a kind of planar-micro-parallel robot is put forward . The micro-parallel robot adopts planar-double-dof five-bar mechanism. And the designing aim is to apply traditional joints which have larger motion range than flexible joints to micro mechanism to achieve larger workplace and complex movement path besides high precision, at the same time, such mechanism having simpler structure、lower manufacturing cost. All that can satisfy the need of some condition with not so high precision in micro machine. In the end of this article, author put a example to prove feasibility of this method.