新型6-PRRS并联机器人工作空间与结构参数研究  

Study on working space and structural parameters of the new typed 6-PRRS parallel robot

作　　者：刘玉斌[1] 赵杰[1] 杨永刚[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机械设计》2007年第3期7-9,共3页Journal of Machine Design

摘　　要：针对一种新构型的6-PRRS并联机器人,研究了该机构中长杆、短杆、固定平台、动平台结构参数的变化对其工作空间的影响。根据此类并联机器人工作空间形状的特点,提出一种比较简便的工作空间大小比较方法。不同的结构参数对应于不同的工作空间,通过机构参数影响的分析,为此类并联机器人的应用与设计提供直接的依据。Aimed at a kind of new typed 6-PRRS parallel robot, this paper studied the influence on its working space affected by the variation of structural parameters of the long rod, short rod, fixed platform and moving platform of this mechanism. A relatively simple and convenient comparison method for comparing the size of workspace was put forward according to the characteristics of the workspace shape of parallel robot of this kind. Different structural parameters correspond to different workspace and by means of analysis on the influence of mechanism parameters and then provided direct basis for the application and design of this kind of parallel robots.

关 键 词：工作空间 并联机器人 逆运动学 运动旋量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]