机械设计
機械設計
궤계설계
Journal of Machine Design
2009年
12期
29-31
,共3页
并联机构%运动传递性能%力传递性能
併聯機構%運動傳遞性能%力傳遞性能
병련궤구%운동전체성능%력전체성능
parallel mechanism%movement transmission property%force transmission property
以3平移自由度3-PRC并联机器人机构为研究对象,建立了机构的运动方程;基于速度与力可操作椭球,建立运动与力各向同性评价指标,度量机构在操作空间给定位置处运动与力的传递性能;以速度和力方向可操作度为评价指标,度量机构在操作空间沿指定方向运动与力的传递能力.结果表明,3-PRC并联机器人机构在操作空间具有良好的运动与力的传递性能.
以3平移自由度3-PRC併聯機器人機構為研究對象,建立瞭機構的運動方程;基于速度與力可操作橢毬,建立運動與力各嚮同性評價指標,度量機構在操作空間給定位置處運動與力的傳遞性能;以速度和力方嚮可操作度為評價指標,度量機構在操作空間沿指定方嚮運動與力的傳遞能力.結果錶明,3-PRC併聯機器人機構在操作空間具有良好的運動與力的傳遞性能.
이3평이자유도3-PRC병련궤기인궤구위연구대상,건립료궤구적운동방정;기우속도여력가조작타구,건립운동여력각향동성평개지표,도량궤구재조작공간급정위치처운동여력적전체성능;이속도화력방향가조작도위평개지표,도량궤구재조작공간연지정방향운동여력적전체능력.결과표명,3-PRC병련궤기인궤구재조작공간구유량호적운동여력적전체성능.
Taking the mechanism of 3 translational degree of freedom 3 PRC parallel robot as the target of study to establish the movement equation of mechanism. Based on the operable ellipsoid of velocity and force to establish the isotropic evaluation index of velocity and force. The transmission properties of motion and force of the mechanism at a given position in the operation space were measured. Taking the manipulability of velocity and force direction as the target of evaluation the transmission capability of movement and force of the mechanism that inoves along a designated direction in the operation space was measured. The result showed that the 3-PRC parallel robot mechanism possesses favourable motion and force transmission capability in the operation space.
