摘要
基于螺旋理论,运用四自由度对称并联机器人结构综合的方法,选择设计出一种2-RPS-2-UPS并联机器人。运用ADAMS软件建立了2-RPS-2-UPS四自由度并联机器人的模型,并进行了给定轨迹的运动仿真,得到了运动过程中执行构件的运动轨迹坐标值曲线。表明该四自由度并联机器人的运动是预定、可靠的。
The 2-RPS-2-UPS parallel robots were designed base on the screw theory and the method by using the four freedom parallel robots structure synthesis method. The model of the 2-RPS-2- UPS f our freedom parallel robots was established,and the movement simulation of the assigned path was performed by using the ADAMS software. The coordinate curve of the execution component in the rate process was obtained. The results show that the movement of the 2-RPS-2-UPS four freedom parallel robots is preconcerted and reliable.
出处
《机械设计与制造》
北大核心
2009年第8期195-197,共3页
Machinery Design & Manufacture
基金
国家自然科学基金(50675235)
关键词
并联机器人
螺旋理论
结构综合
仿真
Parallel robot
Screw theory
Structure synthesis
Simulation
