单开链法在并联机器人设计中的应用  

Application of single-opened chain method in the design of parallel robot

作　　者：周燕辉[1] 

机构地区：[1]井冈山大学工学院,江西吉安343009

出　　处：《机械设计》2009年第11期40-41,共2页Journal of Machine Design

摘　　要：以单开链的基本理论为基础,通过对运动副的合理配置,以单开链支路为单元,设计出一种新型的并联机器人机构。该机构具有3个完全相同的结构,保持了结构的对称,满足了各向同性的要求。研究结果表明,该机构具有二维移动和三维转动5个自由度。Taking the basic theory of single-opened chain as a foundation and taking the branch of single-opened chain as a unit and by means of a reasonable configuration on the kinematic pairs,a kind of new typed parallel robotic mechanism was designed.This mechanism has three completely identical structures and maintained symmetry of structures,thus satisfied the requirement of isotropy.The result of research showed that this mechanism could realize 5 degree of freedom movements of 2D displacement and 3D rotation.

关 键 词：单开链 运动副 并联机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]