三自由度刚柔耦合并联机器人位置解和工作空间研究  

Study on the Position Solution and Workspace of the Flexible Coupling Parallel Robot with Three Degree of Freedom

作　　者：马瑶[1] 宋胜涛[1] 李瑞琴[1] 赵建文[1] 赵瑞杰[1] 金航旭 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2017年第12期14-18,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：针对现有并联机构中存在的如惯量大、工作空间小等缺点,采用柔索代替连杆作为并联机构的牵引元件,引入柔索并联机构的设计理念,将二者结合在一起,研究了一种基于刚柔耦合驱动的并联机构新构型,充分发挥两种机构的优点来提升机构的特性,既具有并联机构高刚度、高精度和高负载能力的优点,又具有柔索机构低质量的优点,同时,没有铰链转角的限制而增加了机构的工作空间。In order to overcome such shortcomings as great inertia and small workingspace existing in par- allel mechanism, the flexible cable is adopted as the traction element of parallel mechanism to take place of connecting rods. Meanwhile, the design concept of flexible cable parallel mechanism is also introduced. With the combination of them two, a new configuration of parallel mechanism driven by the rigid - flexible coupling is put forward, which brings the advantages of the two mechanisms into full play to improve the performance of the new configuration. It possesses not only the merits of high rigidity, high precision and high load capacity of the parallel mechanism but also the advantages of low weight which is possessed by flexible cable. Besides, the freedom from the limitation of hinge angle increases the workingspace of the mechanism.

关 键 词：刚柔耦合 运动学分析 工作空间 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]