平面2自由度平动并联机器人的性能分析  

Performance Evaluation of Planar 2-DOF Translation Parallel Manipulator

作　　者：王冰[1] 韩文仲[1] 

机构地区：[1]北华航天工业学院,河北廊坊065000

出　　处：《机床与液压》2010年第1期85-87,97,共4页Machine Tool & Hydraulics

基　　金：河北省教育厅科研基金资助项目(2006328);北华航天工业学院科研基金资助项目(KY-2008-01)

摘　　要：以一种平面2自由度平动并联机器人为研究对象,对该机器人机构尺寸进行量纲一化,建立了反映机构几何参数变化范围的设计空间模型。探讨了该机器人的雅克比矩阵条件数、承载能力及刚度全域性能指标与机构杆件尺寸之间的关系,并在空间模型内绘制相应的性能图谱,这些图谱是该机器人机构设计的重要参考依据。The planar 2-DOF parallel translation manipulator was treated as non-dimensional structure. The physical model of the solution space, which can reflect the scope that the geometric parameters change, was established. The relationship between link lengths and global performance indices, such as condition number of Jaeobian matrix, payload and stiffness was discussed. The atlases for the global performance indices of the manipulator were plotted.

关 键 词：并联机器人 空间模型 全域性能指标 性能图谱 

分 类 号：TH112.1[机械工程—机械设计及理论]