平面2自由度并联平动机器人理论工作空间分析  

Theoretical Workspace Analysis of 2-DOF Planar Parallel Translational Manipulator

作　　者：王冰[1] 田东兴[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5期111-113,共3页Machine Tool & Hydraulics

基　　金：河北省教育厅科研基金资助项目(Z2006328);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自由度并联平动机器人为研究对象,对该机器人机构尺寸进行量纲一化,建立反映机构几何参数变化范围的设计空间模型;分别讨论该机器人机构理论工作空间的形状及大小与尺寸参数之间的关系,并绘制工作空间面积与尺寸关系的性能图谱,该图谱是该机器人机构设计的重要参考依据。As the subject investigated, the planar 2-DOF parallel translational manipulatnr was treated as non-dimensional struc- ture. The physical model of the solution space, which can reflect the scope in which the geometrie parameters change, was established. The relationship between link lengths and theoretical workspaee shape and size were discussed. And the atlas for the theoretical workspaee nf the manipulator was plotted. The atlas is very useful for the design of the manipulator structure.

关 键 词：并联机器人 空间模型 工作空间 性能图谱 

分 类 号：TH112.1[机械工程—机械设计及理论]