一种新型四自由度混联机器人的设计与分析  

Design and Analysis of a New 4-DOF Hybrid Robot

作　　者：李伟[1] 王权[1] 何兵[1] 管健[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械设计与制造》2015年第5期168-170,174,共4页Machinery Design & Manufacture

基　　金：河南省高校科技创新团队支持计划资助(2012IRTSTHN013)

摘　　要：通过对机器人串并联结构的分析,设计了一种新型的四自由度混联机器人,克服了同类机器人腕部俯仰电机不容易被安放在机架上的困难。将控制电机都设计在机架上,大小臂电机不同轴,腕部俯仰电机与大臂电机同轴,通过一种双平行四边形机构实现腕部俯仰动作,结构简单、俯仰角容易控制,俯仰运动不受大小臂运动的影响而发生牵连运动。腕部俯仰驱动的传动件为连杆,与大小臂以并联的形式进行连接,对机器人模型进行静力学分析,分析结果表明这种腕部俯仰机构能够提高机械臂的抗弯刚度。A new 4-DOF hybrid robot is designed by the analysis of the tandem-type robot and the parallel robot series,overcomes the difficulties of the similar products that the robot wrist pitch motor is not easy to be placed on the frame.The motors of the big arm and the small arm are different axis,and the motors of the wrist pitch and the big arm are coaxial,the robot wrist pitch running by a double-parallelogram mechanism. This mechanism has simple structure and the pitch angle is easy to control. The pitching motion is independent,which won＇t be affected by the mechanical arm movement. The transmission part of the wrist pitch drive is connecting rod,and the wrist pitch mechanism is connected with the arms in parallel,which can be proved by static simulation analysis that the flexural rigidity of the small arm is increased under the action of the wrist pitch mechanism.

关 键 词：混联机器人 腕部俯仰 连杆 远距离驱动 抗弯刚度 静力分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]