高速重载工业机器人臂机构研究

Research on high speed and over loading industrial robot arm mechanism

研究出一种新的机器人臂机构———“并联放大”复合臂机构 ,介绍了其机构原理、结构设计及测试实验。实验表明 :载荷 2 5kg时 ,臂机构末端运动速度可达到 10m/s ,该臂机构具有高速运动及抗冲击振动的能力。

A new kind of robot arm mechanism -- the compound parallel connection and magnification arm mechanism was studied.Its principle of mechanism,structual design and testing experiment were introduced.The experiment indicated that this arm mechanism possesses high speed moving ability and antishocking vibration ability while under a loading of 25 kg with a moving speed reaches to 10 m/s at the end of arm mechanism.