CAJ | 학술논문

提出运用计算机辅助几何法来研究新型四自由度并联机器人的型综合问题,利用在CAD软件草图环境下建立的并联机器人模拟机构,基于并联机器人的模拟机构,综合出多种新型四自由度机构,并用计算机模拟法,分析了动平台的运动特性.模拟结果表明,计算机辅助几何法的应用不但大大简化了并联机器人机构型综合的难度,而且快捷直观,值得推广.
제출운용계산궤보조궤하법래연구신형사자유도병련궤기인적형종합문제,이용재CAD연건초도배경하건립적병련궤기인모의궤구,기우병련궤기인적모의궤구,종합출다충신형사자유도궤구,병용계산궤모의법,분석료동평태적운동특성.모의결과표명,계산궤보조궤하법적응용불단대대간화료병련궤기인궤구형종합적난도,이차쾌첩직관,치득추엄.
A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulatom is put forward,and the computer simulation mechanisms of parallel manipulators is created by using the geometric constraints and dimension driving techniques in CAD software.Based on the computer simulation mechanisms of parallel manipulators,several new spatial 4-DOF parallel manipulators are synthesized,the kinematic charactefistics of the moving platforms analyzed by computer simulation.The results of computer simulation indicates that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward,but also has the advantages of accuracy.