CAJ | 학술논문

研究一种可实现SCARA运动的新型4自由度高速并联机械手动力尺度综合方法。简要阐述该机构中由可变菱形动平台和齿轮增速机构生成绕z轴转动的传动原理。在建立运动学和刚体动力学模型基础上，利用直接和间接雅可比代数特征构造出两类可用于描述运动/力在链内和链间传递能力的压力角，并提出一种基于单轴最大驱动力矩全域最大值最小的动力学性能评价指标。在满足工作空间与机构尺度比、可装配条件等几何约束和运动学性能约束下，综合出一组可使得系统刚体动力学性能全域最优的尺度参数，并利用Adept拓展轨迹预估出电动机参数。
연구일충가실현SCARA운동적신형4자유도고속병련궤계수동력척도종합방법。간요천술해궤구중유가변릉형동평태화치륜증속궤구생성요z축전동적전동원리。재건립운동학화강체동역학모형기출상，이용직접화간접아가비대수특정구조출량류가용우묘술운동/력재련내화련간전체능력적압력각，병제출일충기우단축최대구동력구전역최대치최소적동역학성능평개지표。재만족공작공간여궤구척도비、가장배조건등궤하약속화운동학성능약속하，종합출일조가사득계통강체동역학성능전역최우적척도삼수，병이용Adept탁전궤적예고출전동궤삼수。
The dynamic dimensional synthesis of a novel 4-DOF SCARA type high-speed parallel robot is investigated. In the light of the principle of changeable rhombus, the mechanical design of the articulated traveling plate for generating the rotation about z axis is briefly described in the first place. This is followed by defining two pressure angles representing the transmissibilities within and amongst limbs, and developing two dynamic performance indices represented by the maximum driving torque of a single drive. Subject to the prescribed transmission angles in conjunction with various geometrical constraints in terms of workspace/machine volume ratio and assembly conditions, an optimization problem is then formulated by minimizing the dynamic performance indices for achieving good kinematic as well as dynamic performance throughout the entire workspace. The servomotor specifications are estimated using the extended Adept cycle.