| 平面2自由度驱动冗余并联机器人的输出速度分析 |
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| 引用本文： | 张立杰,刘颖,黄真.平面2自由度驱动冗余并联机器人的输出速度分析[J].机械设计,2006,23(2):19-21. |
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| 作者姓名： | 张立杰 刘颖 黄真 |
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| 作者单位： | 燕山大学,机械工程学院,河北,秦皇岛,066004 |
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| 摘 要： | 机器人的性能分析是机器人机构设计的前提和基础。以一种平面2自由度驱动冗余并联机器人为研究对象，根据该并联机器人机构的空间模型和运动学反解，探讨了该并联机器人机构的末端输出速度性能指标与杆件尺寸之间的关系，并绘制了相应的性能图谱，这些图谱是该并联机器人机构设计的重要参考依据。
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| 关 键 词： | 并联机器人 驱动冗余 速度分析 性能图谱 |
| 文章编号： | 1001-2354（2006）02-0019-03 |
Analysis on output speed of parallel robot with planar 2-DOF actuation redundancy |
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| ZHANG Li-jie,LIU Ying,HUANG Zhen.Analysis on output speed of parallel robot with planar 2-DOF actuation redundancy[J].Journal of Machine Design,2006,23(2):19-21. |
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| Authors: | ZHANG Li-jie LIU Ying HUANG Zhen |
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| Affiliation: | School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China |
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| Abstract: | Function analysis of robot is the premise and foundation for mechanism design of robot. This paper takes a kind of parallel robot with 2-DOF actuation redundancy as the object of study and according to the spatial model of the parallel robot mechanism and the reverse solution of dynamics, the rela tionship between the function target of output speed of the tip of this parallel robot mechanism and the dimensions of bar components was probed. The corresponding performance atlas has been plotted, these atlas are an important base of reference for the mechanism design of this parallel robot. |
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| Keywords: | parallel robot actuation redundancy speed analysis performance atlas |
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