3自由度高刚度机器人的设计与分析

Design and Analysis of Three-Degree-of-Freedom High-stiffness Robot

结合机器人技术与数控加工技术,设计了一种3自由度高刚度机器人。通过对加工要求的分析,确定了3自由度结构,并进行了多自由度空间的理论分析,确定了结构设计方案;在机器人各轴添加制动器夹紧机械臂上制动盘的结构方案,改善了机器人的末端刚性。

Combining robot technology and CNC machining technology,a three-degree-of-freedom high-stiffness robot is designed.The three-degree-of-freedom structure is determined by the analysis of pro⁃cessing requirements,and the theoretical analysis of the multi-degree-of-freedom space is performed,and the structural design plan is determined.The brake is added to each axis of the robot to clamp the brake disc of the robotic arm,the end rigidity of the robot is improved by the structure scheme.