摘要
研制出新型 6 HTRT并联机器人 ,介绍了这种并联机构的形式特点、运动副组成和工作原理。研制出步进电机控制的集中式控制系统和实验系统 ,并给出了不同姿态下并联机器人工作空间仿真和不同载荷下机器人重复性精度实验的结果。仿真和实验结果表明 ,所研制的新型 6 HTRT并联机器人具有末端操作器惯量小、动作灵活、重复性运动精度高、承载能力较大等特点。
A novel 6-HTRT Parallel Robot is researched and developed. the style of mechanical architecture and the characteristics of the robot are introduced. The working principle and the motion pairs structure of the robot are also presented. The control system and the test system of the robot have been developed.The workspace simulation respect to a variety of postures and the repeatability test result accuracy at variable load of the parallel robot are presented. The results of simulation and test show that the 6-HTRT Parallel Robot possesses characteristics of low inertia at end manipulator, high maneuverability, high movement repeatability and high load capability.
出处
《高技术通讯》
EI
CAS
CSCD
2002年第10期50-53,共4页
Chinese High Technology Letters
基金
863计划 (5 12 - 0 2 - 0 0 95 )资助项目。
