基于少自由度并联机构的混联机器人设计  

Design of Hybrid Robot Based on Lower-mobility Parallel Mechanism

作　　者：李伟[1] LI Wei(Haier School(Electromechanical School),Qingdao Technical College,Qingdao,Shandong 266555,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

出　　处：《青岛职业技术学院学报》2022年第5期37-44,共8页Journal of Qingdao Technical College

基　　金：青岛职业技术学院重点研发专项(2021ZDYF01);青岛职业技术学院科研重点课题(2020YYZD03,2020YYZD09)。

摘　　要：并联机构具有精度高,刚性好、承载能力强等优点,其性能与串联构型机器人构成了“对偶互补关系”,混联机器人就是在此关系下诞生的一种新构型。以少自由度的3-RPS并联机构和HANA并联机构为模块,设计出两种第二类混联机器人的构型原理方案,并在此指导下,对混联机器人展开详细的结构设计,进而在虚拟环境下构建合适的工程应用场景进行运动仿真。运动仿真验证了设计的合理性及潜在的工程应用价值。The parallel mechanism has the advantages of high precision,good rigidity and strong bearing capacity.Its performance and serial robot constitute a“dual complementary relationship”.Hybrid robot is a new configuration born under this relationship.Taking the 3-RPS parallel mechanism with lower-mobility and HANA parallel mechanism as modules,the configuration principle schemes of two types of hybrid robots of the second kind are designed,and under this guidance,the structure of hybrid robots is designed in detail.Furthermore,appropriate engineering application scenarios are constructed in the virtual environment for motion simulation.The motion simulation verifies the rationality of the design and the potential engineering application value.

关 键 词：并联机构 混联机器人 3-RPS HANA 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]