Optimum Kinematic Design of the 4R 2-DOF Parallel Mechanism

This paper analyzes the kinematic optimization design of the 4R 2-DOF parallel mechanism taking into account the force transmissibility. Three indices are introduced to reflect the force transmissibility. Based on these indices and their performance charts, the optimization design process with respect to the workspace is presented in detail. The results show that the designed mechanism is not only far from every singularity but also has good force transmissibility in its workspace. These kinematic optimization indices can be extended to other parallel mechanisms.     

基于时变特性的数控机床综合误差建模方法

 以立式B-A 摆头五轴数控机床为例,根据机床误差元素的时变特性,研究一种能够反映静、动态综合误差的数控机床误差建模方法。将动态误差表达为与运动单元速度、加速度相关的傅里叶级数形式,并与静态误差结合,将运动副误差元素表达为静态误差矩阵与动态误差矩阵的复合形式,利用多体系统理论构建了静、动态误差与刀具轨迹误差的映射关系模型。理论分析表明,基于时变特性的综合误差建模方法考虑了运动学、动力学两方面的影响因素,可以更准确地反映机床高速、高精加工过程产生的实际误差,从而为数控机床的误差补偿及控制参数整定奠定一定的理论基础。     

高速高负载并联机器人设计

食品和日化等领域存在大载荷桶装或袋装产品的两移动自由度搬运和装箱作业,降低了机器人自由度要求,但在机器人负载能力上提出了新的挑战.如何在构型综合层面实现机器人从无到有?如何在性能评价层面保障机器人从有到优?上述问题是研发高性能高速并联机器人的两大核心难题.该文围绕高速并联机器人的闭环支链优势特征,提出支链间耦合策略,建...