摘要
一般的六自由度液压并联机器人的正解算法十分复杂。为此,针对6-3型并联液压机器人正运动学提出了快速的数值解法;采用数值方法对此6-3并联机器人的工作空间进行了分析;对液压并联机器人进行优化设计,并设计了一种新型的复合虎克铰,该结构较之传统的球铰具有转动范围大、使用寿命长、易维护等优势。
The forward kinematics algorithm of a common 6-DOF hydraulic parallel robot is very complicated. Therefor a fast for-ward kinematics algorithm aimed at six degree of freedom （ 6-DOF） hydraulic parallel robot was proposed. A numerical method was used to analyze the workspace of the 6-DOF parallel robot, optimization design was carried out for the robot, and a new complex joint was designed. As compared with traditional ball-joint, the structure has advantages of large scope of rotation, long service life and easy at maintenance, and etc.
出处
《机床与液压》
北大核心
2014年第23期119-121,共3页
Machine Tool & Hydraulics
