| 一种新型6-HTRT并联机器人研制 |
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| 引用本文： | 孙立宁,于晖,祝宇虹,蔡鹤皋.一种新型6-HTRT并联机器人研制[J].高技术通讯,2002,12(10):50-53. |
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| 作者姓名： | 孙立宁 于晖 祝宇虹 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
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| 基金项目： | 863计划 (5 12 - 0 2 - 0 0 95 )资助项目。 |
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| 摘 要： | 研制出新型6—HTRT并联机器人，介绍了这种并联机构的形式特点、运动副组成和工作原理。研制出步进电机控制的集中式控制系统和实验系统，并给出了不同姿态下并联机器人工作空间仿真和不同载荷下机器人重复性精度实验的结果。仿真和实验结果表明，所研制的新型6—HTRT并联机器人具有末端操作器惯量小、动作灵活、重复性运动精度高、承载能力较大等特点。
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| 关 键 词： | 6－HTRT 并联机器人 仿真 实验系统 机器人 机构学理论 |
Development of A Novel 6-HTRT Parallel Robot |
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| Sun Lining,Yuhui,Zhu Yuhong,Cai Hegao.Development of A Novel 6-HTRT Parallel Robot[J].High Technology Letters,2002,12(10):50-53. |
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| Authors: | Sun Lining Yuhui Zhu Yuhong Cai Hegao |
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| Abstract: | A novel 6-HTRT Parallel Robot is researched and developed. the style of mechanical architecture and the characteristics of the robot are introduced. The working principle and the motion pairs structure of the robot are also presented. The control system and the test system of the robot have been developed.The workspace simulation respect to a variety of postures and the repeatability test result accuracy at variable load of the parallel robot are presented. The results of simulation and test show that the 6-HTRT Parallel Robot possesses characteristics of low inertia at end manipulator, high maneuverability, high movement repeatability and high load capability. |
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| Keywords: | Parallel robot Simulation Test system Repeatability |
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