CAJ | 학술논문

一种混联码垛机器人的大臂为主要承力部分，其通过虎克铰与机架联接，在2条UPS主动支链的驱动下实现俯仰与摆转2自由度运动，机架、大臂及2条UPS主动支链构成了2-UPS/U并联机构，该机构运动学、动力学性能非常优越；小臂通过转动副串联在大臂上并在RPR主动支链的驱动下实现其运动；末端执行器安装在小臂的末端，并通过构造2组平行四边形结构使其在运动的过程中始终保持与基准面平行。通过PROE软件建立码垛机器人的三维模型，然后将其导入Adams软件中进行运动学性能的仿真分析。
일충혼련마타궤기인적대비위주요승력부분，기통과호극교여궤가련접，재2조UPS주동지련적구동하실현부앙여파전2자유도운동，궤가、대비급2조UPS주동지련구성료2-UPS/U병련궤구，해궤구운동학、동역학성능비상우월；소비통과전동부천련재대비상병재RPR주동지련적구동하실현기운동；말단집행기안장재소비적말단，병통과구조2조평행사변형결구사기재운동적과정중시종보지여기준면평행。통과PROE연건건립마타궤기인적삼유모형，연후장기도입Adams연건중진행운동학성능적방진분석。
The large arm of a hybrid stacking robot is the main load-bearing part,and it is connected with the machine frame by a Hooke joint,and it has the motions of the pitch and swing degrees of freedom. Frame,large arm and two UPS active branched chains composed a 2 -UPS/U parallel mechanism. The kinematics and dynamics characteristics of the mechanism are very favorable. A small arm connects with the big arm through a rotating pair and it moved by a RPR active branched. The end effectors mounted at the end of the small arm and constructing two parallelogram structures to make it always keep parallel with the reference surface in the process of motion. The three-dimensional model of palletizing robot is built by PROE software ,and then gets the simulation analysis of kine-matics performance from Adams software.