虎克铰工作空间研究及其在6-HTRT并联机器人中的应用

虎克铰作为一种能够提供两个自由度的铰链机构，在各种机构形式的并联机器人中得到了广泛的应用。对虎克铰的工作原理和工作空间作了研究和仿真，研究结果用于6－HTRT并联机器人的尺度综合，使得并联机器人的工作空间范围不受虎克铰运行副转角范围的限制，工作空间体增大，并联机器人的工作空间算法限制因素减少，运动控制算法简单，提高了并联机器人机构性能。

Study on Hooke Joint and Its Application in 6-HTRT Parallel Robot

Hooke Joint ,as a kind of joint mechanism, which can supply two DOF revolution, has found a wide application in mechanisms of various style parallel robots. In this paper,working principle and workspace of Hooke Joint are studied and simulated. Using the results of the study and simulation in optimal dimensional synthesis of the assembly angles of Hooke Joint in mechanism of parallel robot, we get a workspace possessing large volume not restricted by the limits of the cone angles of Hooke Joint. Simultaneously, we get a more concise algorithm of Inverse Position of 6-HTRT Parallel Robot, which resulted in more simple motion control algorithm, and higher mechanical performance.