| 4-DOF并联机器人型综合与分析的计算机辅助几何法 |
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| 引用本文： | 张艳华,郝宏伟,吴立勋. 4-DOF并联机器人型综合与分析的计算机辅助几何法[J]. 机械设计, 2006, 23(7): 47-50 |
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| 作者姓名： | 张艳华 郝宏伟 吴立勋 |
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| 作者单位： | 1. 河北师范大学,机械系,河北,石家庄,050031
2. 河北工业职业技术学院,机电系,河北,石家庄,050091 |
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| 摘 要： | 提出运用计算机辅助几何法来研究新型4自由度并联机器人的型综合问题，利用在CAD软件草图环境下建立的并联机器人模拟机构，基于并联机器人的模拟机构，综合出多种新型4自由度机构，并用计算机模拟法，分析了动平台的运动特性。模拟结果表明，计算机辅助几何法的应用，不但大大简化了并联机器人机构型综合的难度，而且快捷直观，值得推广。
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| 关 键 词： | 计算机辅助几何法 尺寸驱动 并联机器人 型综合 |
| 文章编号： | 1001-2354（2006）07-0047-04 |
| 收稿时间： | 2005-10-13 |
| 修稿时间： | 2005-10-132006-01-17 |
Computer aided geometric method on type synthesis and analysis of 4-DOF parallel robot |
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| ZHANG Yan-hua,HAO Hong-wei,WU Li-xun. Computer aided geometric method on type synthesis and analysis of 4-DOF parallel robot[J]. Journal of Machine Design, 2006, 23(7): 47-50 |
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| Authors: | ZHANG Yan-hua HAO Hong-wei WU Li-xun |
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| Affiliation: | 1. Hebei Teachers University, Shijiazhuang 050031, China; 2. Department of Mechanical and Electronics Engineering, Hebei Institute of Industrial Vocational Technology, Shiliazhuang 050091, China |
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| Abstract: | This paper put forward a study on the problems of type synthesis on the novel 4-DOF parallel robot by means of computer aided geometric method. Utilizing the established simulation mechanism of parallel robot under the environment of sketch of CAD software and on the basis of simulation mechanism of parallel robot, a lot of new-typed 4-DOF mechanisms have been synthesized. The movement characteristics of moving platform were analyzed by applying the method of computer simulation. The result of simulation indicated that the application of computer aided geometric method not only greatly reduced the difficulty of type synthesis of parallel robot mechanism and is also rapid and visualize and worthy to be popularized. |
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| Keywords: | computer aided geometric method dimension drive parallel robot type synthesis |
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