摘要
提出基于3-RRR球面并联机构的新型机器人球面驱动关节模块,定义了其工作空间并提出了一种新的求解球面机构工作空间大小的算法。研究了机器人球面驱动关节模块工作空间与关节模块结构参数之间的关系,总结出了结构参数对工作空间影响的3个规律,为确定机器人球面关节模块结构参数提供了重要的参考价值。
A new robot spherical joint module with driving based on 3-RRR spherical parallel mechanism was presented. The workspace of robot spherical joint module was defined and a new method solving the area of workspace was proposed. The relationships between the workspace of robot spherical joint module and the structural parameters were researched comprehensively and systematically. Three regularities which provide important reference value for determining the structural parameters of robot spherical joint module were concluded.
出处
《机床与液压》
北大核心
2009年第6期4-6,共3页
Machine Tool & Hydraulics
