摘要
提出并设计了一种新颖的三自由度并联机器人平台,整体结构分为3层:底座、中间层和动平台。中间层由3个伸缩杆连接而成,各层之间通过桁架连接;通过调节中间层的3个伸缩杆长度,使动平台具有空间3个自由度(1个平动自由度和2个转动自由度);利用CREO2.0建模软件建立了整体结构的三维模型,并通过ADAMS虚拟样机仿真软件对整个结构进行静力学与运动学仿真分析。该并联机器人平台满足运动和承载的性能要求。
A novel three DoFs parallel robot platform is presented and designed, of which whole structure is divided into three layers： base, interlayer and moving platform. Interlayer is con- structed by three telescopic rods, and each layer is connected with truss rods.Moving platform have three DoFs in space by adjusting length of three telescopic rods of interlayer. The CREO2.0 modeling software is applied to build 3D model of whole structure, and the ADAMS virtual prototype simulation software is applied to analyse statics and kinematics of the mecha- nism.The designed parallel robot platform satisfies the requirement of motion and bearing ca- pacity.
出处
《金陵科技学院学报》
2015年第3期16-19,共4页
Journal of Jinling Institute of Technology
基金
金陵科技学院博士科研启动基金(40610123)
