平面二自由度并联机器人结构优化与操作空间选择

针对毛坯锻造自动化生产等对高节拍低精度往复运动的搬运操作需求，提出一种基于平面双滑块机构的二自由度并联机器人。由平面上互相平行的2个直线运动滑块驱动机器人末端实现竖直平面内的物料搬运运动，建立机器人运动学模型，基于灵巧度和全局性能指数进行机器人结构参数设计，同时兼顾运动周期与运动精度，获得机器人操作空间。实验分析结果表明：机器人工作周期为1.5 s，竖直位移为245 mm，末端轨迹精度为±1.5 mm，证明机器人具有良好的运动精度和足够的运动位移，以及良好的工作效率。

Structure Optimization and the Choice of Operating Space of Planar 2-DOF Parallel Manipulator

For the demand of automotive electronics industry for high tempo, reciprocating motion of the handling operation, a kind of two degree of freedom (2-DOF) parallel manipulator based on planar double slider mechanism was presented. Two sliders of linear motion, which are parallel to each other on the plane, drive the end of the manipulator to make vertical movement for material handling. Kinematic model of the manipulator is established. Based on the dexterity and overall performance index, the parameter of the structure is designed. Considering both motion cycle and movement precision of robot, the operation space of manipulator is acquired. Experimental analysis shows that the robot working cycle is 1.5 s, the vertical displacement is 245 mm, the end of the positioning accuracy is ±1.5 mm. The robot has great kinematic accuracy and kinematic displacement, and high work efficiency.