摘要
以模拟汽车越野变形路况为目的,提出并设计了一种具有大转角特性的六自由度并联机器人结构。该结构由六个倾斜布置的高速高精度直线电机通过运动连杆与负载平台铰接,实现负载平台的空间六自由度运动;基于几何法采用MATLAB建立了结构的运动学模型,对影响结构性能的参数进行了分析,得出当连杆长度为28cm,负载平台半径为8cm时,结构具有较好性能的结论。研制了样机,实际性能与仿真结果相吻合,并讨论了该结构在汽车领域中的应用,为进一步研究打下基础。
To simulate the cross-country road condition,a 6-DOF parallel robot with large angle performance is presented.It consists of six high speed and precision linear motors which were tilting arranged to be hinged through loading platform and six linkages to realize the 6-DOF motion of the robot.Based on geometric method,kinematics model is established by using MATLAB,then the parameters that affect the performance of the robot are analyzed,and the conclusion that the robot has a better performance when the length of the linkage is 28cm and the radius of the platform is 8cm is obtained.The prototype developed which actual performance is matched with simulation results.Applications in automobiles are discussed that provides important theoretical basis for further research.
出处
《机械设计与制造》
北大核心
2012年第6期141-143,共3页
Machinery Design & Manufacture
基金
江苏省科技支撑计划工业部分(BE2008133)
关键词
并联机器人
参数分析
汽车领域应用
Parallel Robot
Parameter Analysis
Applications in Automobiles
