并联机器人结构及驱动方式合理性的探讨

介绍了工业串联机器人结构中存在的不足,阐述了并联机器人的特点、应用范围、发展历程及其基本组成。对并联机器人按照变杆长驱动型、摆杆驱动型、柔索驱动型以及其他驱动型等4种典型传动结构进行探讨;分析了应用在并联机器人中的液压驱动、伺服电机驱动等不同驱动方式的优缺点,进而明确的指出交流伺服电机驱动方式在并联机器人领域具备明显的优势。

Discussion of the Rationality of Parallel Robots' Structure and the Driving Methods

In this paper,the insufficiency of serial robot structure was introduced.The characteristics,application and basic components of parallel robots were summarized.The parallel robot as variable length shaft driving method,swinging rod driving method,soft cable driving method and other driving method were classified.Then the difference in each structure is analyzed.By the contrast of several driving method,such as hydraulic driving system,servo driving system applied on parallel robot,it is concluded that at this stage the AC servo motor driving system has more competitive strength than any other systems.The rationality of the transmission mechanism applied in parallel robot was discussed.Then this article looks into the further of the development of parallel robot driving method.