一种新型柔索驱动并联机器人的模型样机

Model of a New Type Wire Driven Parallel Robot System

提出一种新型并联机器人机构 ,利用张紧柔索驱动该并联机器人·通过运动学和动力学分析、工作空间分析、轨迹规划、误差分析 ,设计并制作了模型样机本体、驱动与控制模块 ,开发了机器人语言 ,控制模型样机完成指定动作·实验结果表明 ,这种新型并联机器人是可行的 ,适用于轻型机床等设备·该机器人在某一速度范围内工作时 ,会产生较明显的振动 ,并伴有噪声 。

A new type parallel robot mechanism was proposed. The mechanism is driven by tightening flexible cable. Through analysis of kinematics and dynamics, working space, track programming and error, the model robot, the electromotor actuator and its control module were designed and made. A kind of language of robot was developed to control the model robot to finish appointed job. This new type robot is feasible and suitable for the light duty tool machines and other equipments. When the robot work at a speed within the range, it vibrates evidently and is noisy. In order to improve the performances of the robot, steps must be taken to decrease the vibration of the robot.