关于凸轮控制的三自由度并联机械手的设计与分析

Design and Analysis of Cam Controlled 3-DOF Parallel Manipulator

随着工业的智能化,计算机可以代替人类大脑,机械手臂可以代替人类的双手,通过程序设计命令计算机操控机械手臂,释放流水线上进行简单枯燥的劳动力已成为时下重要任务。为了设计出模拟人类操作模式的机械手,本文介绍了一种由凸轮控制的三自由度并联机械手,分析并联机械手与传统串联机械手的优越性,并简要阐述了并联机构理论。本文建立了数学模型对该机械手进行自由度和运动学计算,验证设计的科学性。以此为基础设计完成凸轮参数化。

With development of industrial intelligence,computer can replace human brain and robot can replace human hands.Through programming commands,It has become an important task of computer controlling robotic arms and releasing simple and boring labor force on assembly line.To design manipulator simulating human operation mode,the paper introduces a cam-controlled three DOF parallel manipulator,analyzes advantages of parallel manipulator compared with traditional series manipulator,and expounds theory of parallel mechanism briefly.The paper establishes mathematical model to calculate degree of freedom and kinematics of manipulator,verify scientificity of the design.On the basis,it completes parameterization of cam.