摘要
阐述了串、并联机器人运动性能优缺点,由此研制了一台具有移动副、回转副与平面四杆机构的混合机构空间机器人,运用机器人学理论分析了其工作空间与灵活性,并采用Matlab7.0对工作空间及灵活性进行了仿真分析,获得工作空间特征及灵活性变化规律,此机器人可在半椭球空间内完成焊接、加工、装配等任务。
We explain the merits and demerits existing in the kinetic performance of a serial or parallel robot and thus develop a space robot with the hybrid mechanism consisting of slider pair,void pair and planar 4-bar.Then we analyze its workspace and agility with the robotics and simulate them with Matlab7.0,thus obtaining the characteristics of workspace and the laws of agility change.The space robot can accomplish the tasks of welding,machining and assembling in a semi-ellipsoidal workspace.
出处
《机械科学与技术》
CSCD
北大核心
2012年第5期847-850,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
浙江省教育厅项目(Y200909458)资助
关键词
机器人
混合机构
运动性能工作空间
灵活性
space robot
hybrid mechanism
kinetic performance
workspace
agility
