CAJ | 학술논문

并联机器人由多个封闭的机构环组成。这些机构环通常是由连接基座和运动平台的两或多个机构链构成，其中一个关节被驱动，其它关节也跟着一起运动。本文介绍一种3自由度的并联机器人--DELTA机器人。DELTA机器人具有在短时间内搬运大量的轻巧物体的能力，这满足了工业的需求。本文根据DELTA机器人的机构结构，运用空间向量知识，建立机器人各连杆之间位置的向量关系，进行DELTA机器人的运动学逆解计算，以及工作空间的计算。
병련궤기인유다개봉폐적궤구배조성。저사궤구배통상시유련접기좌화운동평태적량혹다개궤구련구성，기중일개관절피구동，기타관절야근착일기운동。본문개소일충3자유도적병련궤기인--DELTA궤기인。DELTA궤기인구유재단시간내반운대량적경교물체적능력，저만족료공업적수구。본문근거DELTA궤기인적궤구결구，운용공간향량지식，건립궤기인각련간지간위치적향량관계，진행DELTA궤기인적운동학역해계산，이급공작공간적계산。
Parallel institutions by multiple closed rings. These institutions are usually composed of two rings or more organizations chaining base and motion platforms. One such joint is driven , also followed in other joints move together. This paper describes a three degree of freedom parallel robot-DELTA robots. DELTA robot has the ability to carry large amounts of short lightweight objects, which meet the needs of industry. Based on the institutional structure DELTA robot, using space vector knowledge to build the vector relationship between the robot location of each link , perform inverse kinematics of the robot DELTA computing, and computing workspace.