摘要
通过对传统并联机器人结构与性能的分析,设计了一种新型的伪四自由度并联机器人,克服了传统机器人驱动电机数量与自由度数量相等的障碍,有效地简化了四自由度并联机器人的制作工艺。将旋转轴固定在静平台上,两根主动臂与从动臂固定于动平台上,构成二自由度并联机构;两输出轴驱动两根主动臂旋转,带动末端执行机构在二维平面内运动;旋转轴驱动动平台进行旋转,实现末端执行机构在三维平面内的运动。分析了伪四自由度并联机器人的结构特点以及工作原理,建立了运动学模型,对其工作空间进行动态仿真并搭建硬件平台进行实验测试。实验结果表明该伪四自由度并联机器人能够提高运行速度并能准确定位抓取,实现四自由度机器人功能。
A new pseudo 4-DOF parallel robot is designed by the analysis of traditional parallel robot structure and pe^ormance , overcoming the barrier that the number of the traditional robot drive motors is equal to the number of degrees of freedom. The cost of 4-DOF parallel robot is reduced effectively. The rotating shaft is fixed on the static platform~ The two active arms and the driven arm are fixed on the moving platform, which constitute the 2-I）OF parallel mechanism; the two output shafts drive the active arms to rotate, making the end of the actuator move in the 2D plane. The rotating shaft drives the moving platform to rotate, making the end of the actuator move in the 3D plane. The structure characteristic and working principle of pseudo 4-DOF parallel robot are analyzed~ The kinematics model is established and the workspace is simulated. At last, the hardware platform will be built for test. The experimental results show that the pseudo 4-DOF parallel robot can improve the operating speed and achieve accurate grasp, completing the function of the 4-DOF parallel robot.
出处
《机械设计与制造》
北大核心
2015年第11期96-99,共4页
Machinery Design & Manufacture
