摘要
提出一种 6-SPS球平台 6自由度正交并联机器人新机型 ,介绍其结构布局特点 ,对其局部力与运动传递性能及它们与机构几何参数关系进行分析 ,为其设计和实用化提供理论依据。分析结果表明 ,该球平台机构在正交位姿力和运动传递性能各向同性 ,特别适合于作为 6自由度微动操作机器人和 6维力传感器结构。
The design of a novel 6-SPS spherical platform 6-DOF orthogonal parallel robotic mechanism is presented. The layout feature of the mechanism is described. Its local properties of the force and motion transmission and the relationships between the properties and the link lengths are studied, which provides theoretical base for the optimal design and application of the mechanism. From the analysis of the results obtained by us, it is shown that its properties of the force and motion transmission are characterized by isotropy at the orthogonal configuration. The mechanism is particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force/torque transducers.
出处
《光学精密工程》
EI
CAS
CSCD
2001年第1期63-66,共4页
Optics and Precision Engineering
基金
燕山大学科技发展基金资助项目! (YDJJ2 0 0 6 )
