利用分度圆半径优化并联机器人的设计  

Using Pitch Radius Optimizes the Design of Parallel Robot

作　　者：梁凯[1] 苏建刚[1] 

机构地区：[1]北京跟踪与通信技术研究所,北京100094

出　　处：《装备指挥技术学院学报》2006年第2期88-92,共5页Journal of the Academy of Equipment Command & Technology

基　　金：部委级资助项目

摘　　要：基于对六自由度并联机器人运动学的分析,提出了一种通过改变下平台铰点支座分度圆半径来优化并联机器人结构的设计方法.为了避开复杂的正解分析,该方法利用机构反解进行结构分析.通过选取一些离散的机构参数,达到分析机器人运动性能的目的.仿真结果表明：适当选取下平台铰点支座分度圆半径能更充分地利用系统的动力源,提高工程的经济性.Based on the analysis of kinematics of six-degrees of freedom parallel robot, a design method is proposed, in which design of parallel robot is optimized by changing the pitch radius. For the forward kinematics of six-degrees of freedom parallel robot is a worldwide problem which hasn＇t been completely resolved up to now, inverse kinematics is used for analysis of optimal design. By selecting a sample of discrete data, motive performance is analyzed. The result of simulation indicates that, by determining pitch radius appropriately, the system driver can be used more effectively and the cost of project can be saved.

关 键 词：并联机器人 机构反解 优化设计 分度圆半径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]