并联机器人球铰链的仿真设计

Simulative design on the globe hinge of parallel robot

球铰链作为一种能够提供3个自由度的铰链机构,在各种形式的并联机器人中得到了广泛应用。但由于其工作空间较小,限制了机器人的工作空间,从而增大了设计难度。在3-RSS/S型踝关节康复并联机器人的球铰链的设计过程中,提出了一种运用MATLAB和UG软件相结合的仿真设计法,充分利用球铰转动时极限转角不对称的特点,完成了球铰链的设计,并给出了球铰链仿真设计法的一般步骤。

Globe hinge to be regarded as a kind of hinge mechanism that could provide 3 degree of freedom has obtained broad application in all typed parallel robots. Yet it restricted the working space of robot on account of its rather smaller working space thus increased the designing difficulty. In the process of globe hinge design of 3-RSS/S typed ankle joint recovery parallel robot, a kind of simulative designing method that uses the software combination of MATLAB and UG was put forward. It completed the globe hinge design by fully utilizes the unsymmetrical characteristics of limiting rotation angle while the globe hinge is turning. The general steps of simulative designing methodology of globe hinge were presented as well.