CAJ | 학술논문

根据平面微小并联机器人系统的功能设计要求,在机器人系统的机构、控制分析的基础上,于设计阶段引入正逆向求解,适当的限定条件保证了坐标变换和运动轨迹规划的唯一性,通过软件仿真对整个机构进行了验证,最后完成了整个系统的仿真设计及设备制作.
근거평면미소병련궤기인계통적공능설계요구,재궤기인계통적궤구、공제분석적기출상,우설계계단인입정역향구해,괄당적한정조건보증료좌표변환화운동궤적규화적유일성,통과연건방진대정개궤구진행료험증,최후완성료정개계통적방진설계급설비제작.
A convenient and effective close loop control scheme, based on the analysis of the robot structure and its control link, has been proposed to satisfy the 2D mini-parallel-carve robot design in this paper. With the introduction of sequent deduction and reversed simulation in the conceiving phase, but more important, with the adoption of the proper restriction to reassure the exclusive result of coordinate transformation and movement planning, the equipment is designed and completed finally with satisfy conclusion.