平面并联平动机器人尺寸设计研究  

Research on Dimensional Design of Planar Parallel Transition Robot

作　　者：王冰[1] 陈久川[2] 

机构地区：[1]北华航天工业学院机械工程系,河北廊坊065000 [2]北华航天工业学院材料工程系,河北廊坊065000

出　　处：《机床与液压》2007年第9期37-41,共5页Machine Tool & Hydraulics

基　　金：河北省教育厅基金资助项目(JX_2005_04_Z)

摘　　要：建立了一种新型平面并联平动机器人的速度与力雅可比矩阵、误差传递及末端柔度矩阵,进而得到其各项性能评价指标。综合考虑该机器人的灵巧度、速度、力及误差传递性能、末端变形及机器人的占用面积,构造出一个新的综合性能评价指标。提出了该机器人极位夹角的概念,它是决定该机器人性能的一个非常重要的几何参数。利用综合性能评价指标对该机器人尺寸设计进行研究。该方法也适用于其它并联机器人的设计。The velocity and force Jaeobian matrix, error transfer and flexibility matrix of a new planar parallel transition robot were presented, its various evaluation indices were developed. A new comprehensive capability evaluation index was constructed by comprehensively considering th dexterity, speed, force and error transfer capability, the end transforms and the robot＇s area. The limiting position angle concept of the robot was put forward. It is a very important geometric parameter which decides the capability of the robot. The comprehensive capability index was used to carry on a research to the robot dimensional design. That method is applicable to the design of other parallel robot.

关 键 词：并联机器人 尺寸设计 评价指标 极位夹角 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]