计算机辅助几何法分析4-DOF并联机器人  

Synthesis and Analysis of 4-DOF Parallel Manipulators based on Computer Aided Geometry Approach

作　　者：陈立辉[1] 张艳华[1] 杜秀菊[1] 杜彦蕊[1] 

机构地区：[1]河北师范大学,河北石家庄050031

出　　处：《机械传动》2010年第3期13-17,共5页Journal of Mechanical Transmission

基　　金：河北省教育厅课题(Z2009128)

摘　　要：提出运用计算机辅助几何法来研究新型四自由度并联机器人的型综合问题,利用在CAD软件草图环境下建立的并联机器人模拟机构,基于并联机器人的模拟机构,综合出多种新型四自由度机构,并用计算机模拟法,分析了动平台的运动特性。模拟结果表明,计算机辅助几何法的应用不但大大简化了并联机器人机构型综合的难度,而且快捷直观,值得推广。A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and the computer simulation mechanisms of parallel manipulators is created by using the geometric constraints and dimension driving techniques in CAD software. Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized, the kinematic characteristics of the moving platforms are analyzed by computer simulation. The results of computer simulation indicates that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy.

关 键 词：计算机辅助几何法 尺寸驱动 并联机器人 型综合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]