一种基于3-RPS并联机构的六自由度并串混联机器人的机构设计  

The Mechanism Design of a 6-DOF Parallel-serial Hybrid Robot Based on 3-RPS Parallel Mechanism

作　　者：李伟[1] 李峰[1] 崔连涛[1] 何庆辉 LI Wei;LI Feng;CUI Lian-tao;HE Qing-hui(Haier School(Electromechanical School),Qingdao Technical College,Qingdao Shandong 266555,China;School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan 250357,China)

机构地区：[1]青岛职业技术学院海尔学院(机电学院),山东青岛266555 [2]山东交通学院信息科学与电气工程学院,济南250357

出　　处：《装备制造技术》2020年第7期30-34,共5页Equipment Manufacturing Technology

基　　金：2018年度山东省高校科研计划项目(J18KA056);2019年度青岛职业技术学院院级教学改革研究项目:真实应用驱动下的STEAM教学模式的改革与应用研究(JG201923)。

摘　　要：分析了并、串联机器人各自的优缺点,基于二者的"对偶互补"关系,提出了一种基于3-RPS并联机构的六自由度并串混联机器人的构建方案。对机器人组成零部件进行了三维机构设计与装配,分析了该机器人理论上相对串联关节式机器人的优势,阐述了该机器人的应用前景,并在软件环境下构建了物料搬运,机器人焊接等作业场景,并进行了运动仿真。Based on the analysis of the advantages and disadvantages of parallel and serial robots,as well as their“dual-complementary”relationship,a scheme of six degree of freedom parallel-serial hybrid robot based on 3-RPS parallel mechanism is proposed.The three-dimensional mechanism design and assembly of the components and parts of the robot are accomplished,and the advantages of the robot compared with the serial joint robot in theory are analyzed.The application prospect of the robot is described,and the working scenes of materials transport and robot welding are established under the software environment,and the motion simulation is carried out.

关 键 词：3-RPS并联机构 并串混联 机构设计 运动仿真 

分 类 号：TH112[机械工程—机械设计及理论]