新型六自由度钢带并联机器人的机构设计  

Mechanism design of steel band parallel robot with six degree of freedom

作　　者：祖顺江[1] 艾青林[1] 胥芳[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,浙江杭州310014

出　　处：《机电工程》2011年第2期157-161,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50805129);浙江省自然科学基金资助项目(Y106028)

摘　　要：为了克服传统并联机器人存在的一些共性问题,进一步拓宽并联机器人的应用领域,提出了一种新型的六自由度钢带并联机器人机构形式,介绍了钢带并联机器人结构和工作原理,阐述了钢带运动副、卷筒装置、复合球铰的结构设计与实现,分析了钢带并联机器人的功能特点、存在问题与应用前景。研究结果表明,弯曲圆弧截面的钢带运动副可使钢带并联机器人具有一定的承压能力,因此钢带并联机器人兼具杆支撑并联机构和绳牵引并联机构的一些特点,具有广泛的应用前景。A new-style steel band parallel robot with six degree of freedom was developed to overcome the common problems and broaden the application of traditional parallel robots.The structure and the working principle of steel band parallel robot,especially the design and implementation of the major parts in the parallel robot including steel band planar pair,reel device and compound spherical pair,were introduced.The functions,existing problems and applied prospect were analyzed and the conclusion that the steel band with circular arc cross-section can bear pressure loads was presented.The research results show that,steel band parallel robot involves some characteristics not only in the rod-supported parallel manipulator but also in wire-driven parallel manipulator,and possesses an extensive prospect of application.

关 键 词：钢带并联机器人 钢带运动副 卷筒装置 圆弧截面 

分 类 号：TH122[机械工程—机械设计及理论] TH123