用于Pick-and-Place的高速并联机构Par4

High Speed Parallel Robot Par4 for Pick-and-Place

介绍了一种用于拾取放置(Pick-and-Place)场合的四自由度并联机构。它是Delta机构的一种演化,在H4和I4并联机构的基础上发展起来的,Par4机构既保留了H4和I4并联机构的优点又克服了其缺点。通过对末端执行器的改进使其实现4个自由度,提高了机器人的力学性能和工作空间,延长了寿命,为Par4并联机器人性能的提升和实际的工程应用提供了理论依据和技术支持。

This paper introduces a four-degree-of-freedom parallel manipulator dedicated to Pick- and-Place. In fact,it is the evolution of Delta,Par4 was developed on basis of H4 and I4. It not only retains the advantages of H4 and I4 parallel mechanism but overcome their shortcomings. Through to the improvement of the end effeetor, make sure this mechanism has 4 degree of freedom,improving the mechanical properties and working space,prolong the service life, As the Par4 parallel robot performance and raise the actual engineering application has provided the theory basis and the technical support.