摘要
机器人的速度性能与其机构尺寸参数之间的关系是机器人机构设计时应考虑的重要问题.以3-RSS/S踝关节康复并联机器人为研究对象,根据空间模型和各向同性度探讨了其速度性能和机构尺寸之间的关系,并绘制了相应的性能图谱,这些图谱可作为机构尺寸优化的依据.
The relationship between robot＇s speed performance and configuration dimensions is the most important matter for the structure design of the robot This paper takes a 3-RSS/S ankle rehabilitation parallel robot as the study object, and based on the spatial model and isotropy of the parallel robot probes the relationship between speed performance and con- figuration dimensions of the robot. The corresponding performance atlas has been plotted, these atlas are an important base for the optimal design of the parallel robot.
出处
《河北工业大学学报》
CAS
2007年第4期39-43,共5页
Journal of Hebei University of Technology
基金
河北省自然科学基金(E2007000069)
关键词
并联机器人
性能分析
优化设计
性能图谱
parallal robot
performance analysis
optimum design
performance atlas
