并联机器人结构及驱动方式合理性的探讨  

Discussion of the Rationality of Parallel Robots′Structure and the Driving Methods

作　　者：刘辰[1] 赵升吨[1] 

机构地区：[1]西安交通大学机械工程学院,西安710049

出　　处：《机械科学与技术》2013年第6期796-800,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：介绍了工业串联机器人结构中存在的不足,阐述了并联机器人的特点、应用范围、发展历程及其基本组成。对并联机器人按照变杆长驱动型、摆杆驱动型、柔索驱动型以及其他驱动型等4种典型传动结构进行探讨;分析了应用在并联机器人中的液压驱动、伺服电机驱动等不同驱动方式的优缺点,进而明确的指出交流伺服电机驱动方式在并联机器人领域具备明显的优势。In this paper, the insufficiency of serial robot structure was introduced. The characteristics, apphcaton and basic components of parallel robots were summarized. The parallel robot as variable length shaft driving meth od, swinging rod driving method, soft cable driving method and other driving method were classified. Then the difference in each structure is analyzed. By the contrast of several driving method, such as hydraulic driving sys tem, servo driving system applied on parallel robot, it is concluded that at this stage the AC servo motor driving system has more competitive strength than any other systems. The rationality of the transmission mechanism applied in parallel robot was discussed. Then this article looks into the further of the development of parallel robot driving method.

关 键 词：并联机器人 传动方式 机构学 动力学特性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]