郭盛, 方跃法. 5自由度并联机器人设计方法[J]. 机器人, 2004, 26(3): 241-245.
引用本文: 郭盛, 方跃法. 5自由度并联机器人设计方法[J]. 机器人, 2004, 26(3): 241-245.
GUO Sheng, FANG Yue-fa. Design of a 5-DOF Parallel Manipulator[J]. ROBOT, 2004, 26(3): 241-245.
Citation: GUO Sheng, FANG Yue-fa. Design of a 5-DOF Parallel Manipulator[J]. ROBOT, 2004, 26(3): 241-245.

5自由度并联机器人设计方法

Design of a 5-DOF Parallel Manipulator

  • 摘要: 本论文以螺旋理论为基础,提出一种系统的结构综合方法.根据各条支链对运动平台所提供的反螺旋约束的线性关系,研究了构成五自由度并联机器人机构的各条支链所有可能的运动副组合以及它们的空间几何条件.利用这一方法,设计出一组结构对称的五自由度并联机器人.

     

    Abstract: Based on the systematic methodology of reciprocal screws theory, a structure synthesis approach for forming a 5-DOF parallel manipulator is presented. All the possible joints assemble and space geometric relationship for forming an independent link of 5-DOF according to the linear relationship of provided reciprocal screws to platform is studied. As examples, two kinds of typical 5-DOF parallel manipulators are designed with this method.

     

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