摘要
机器人机构尺寸综合是一个极其复杂而重要的问题,本文采用空间模型理论将三自由度平面驱动冗余并联机器人机构无限多维的物理尺寸转换为三维而有限的设计空间中,进一步得到了设计空间的平面图,并给出了其应用例。设计空间的建立为研究该机器人性能与尺寸关系及其优化设计奠定了基础。
The optimum design of the parallel manipulators is a complex and important issue. The unlimited multi-dimensional physical size of planar 3 - DOF parallel manipulator with actuation redundancy is transformed into three-dimensional limited design space by using physical model of the solution space theory. The diagrams of the design space are obtained and the examples of application of the design space are given. The design space is the design basis for the study of the relationship between the link lengths and performance criteria and optimum design of the manipulator.
出处
《北华航天工业学院学报》
CAS
2012年第1期1-3,共3页
Journal of North China Institute of Aerospace Engineering
基金
河北省科学技术研究与发展计划项目(10212153)
关键词
并联机器人
驱动冗余
设计空间
性能图谱
parallel manipulator
actuation redundancy
design space
performance atlases
