基于连杆理论的装载端口开门机构设计与运动学仿真  

Mechanism Design and Kinematics Simulation of Load Port Based on Linkage's Theory

作　　者：褚金钱[1,2] 徐方[1] 

机构地区：[1]中科院沈阳自动化研究所机器人国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100049

出　　处：《中国机械工程》2013年第17期2362-2367,共6页China Mechanical Engineering

基　　金：国家科技重大专项(2011ZX02107)

摘　　要：根据结构设计的型综合理论,提出一种将平行四连杆机构和曲柄滑块机构串联起来作为装载端口开盒装置、映射定位系统的驱动机构。利用MATLAB中SimMechanism模块建立了传统机构和新型机构的运动学仿真模型,通过分析比较两者的运动特性,验证了新型机构设计的合理性。According to theory of type synthesis of mechanism, a series of parallel [our--bar link- ages and slider--crank mechanisms were put forward as the drive mechanism of a loading port open box device and a mapping system. A new kinematics simulation models of traditional institutions and new mechanisms were established in MATLAB simulation components,the rational design of new in- stitutions was verified by analyzing the motion characteristics of both.

关 键 词：装载端口 仿真模型 平面连杆机构 运动学 

分 类 号：TH112[机械工程—机械设计及理论]