| 一种Delta型并联机器人的机构设计与分析 |
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| 引用本文： | 刘彦伯.一种Delta型并联机器人的机构设计与分析[J].科技信息,2011(21):I0125-I0126. |
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| 作者姓名： | 刘彦伯 |
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| 作者单位： | 陕西国防工业职业技术学院机械系,陕西西安710302 |
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| 摘 要： | 提出了一种应用于产品包装的delta型并联机器人。该机构灵活高效,具有良好的运动和力传递性能。在运动过程中,四个支臂始终保持空间平行四边形且末端执行器只有3个平动自由度。本文对其进行了整体结构设计、自由度分析、位置正解反解的计算,为该机构的应用打下了基础。
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| 关 键 词： | 并联机器人 自由度 位置反解 位置正解 |
Design andAnalysis of the Structure of A Parallel Robot Called Delta |
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| LIU Yan-bo.Design andAnalysis of the Structure of A Parallel Robot Called Delta[J].Science,2011(21):I0125-I0126. |
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| Authors: | LIU Yan-bo |
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| Institution: | LIU Yan-bo (Department of Mechanic Shannxi institute of Technology, Xi ＇an Shannxi, 710302) |
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| Abstract: | Offering a delta kind of parallel robot used for packing, This machine structure can deliver motion and power well,which is flexible and effective. Its＇four hands always keep the pose of parallelogram in space during the process of moving while the end effeetor only has three freedoms in translational degree. The design of whole structure.analysis of freedom.normal and inverse solution of position are accomplished in this article, as the foundation for its＇application in future. |
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| Keywords: | Parallel robot Freedom Positional solution Position inverse solution |
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