摘要
介绍了一种用于靶精密定位的6自由度并联机器人及其工作特点。研究了靶定位并联机器人承载能力的主要影响因素。采用计算与CAF和CAE相结合的方法,对靶定位并联机器人承载能力进行了系统分析。分析过程中对各影响因素进行了全面考虑,给出了驱动力与负载力的关系图,确定了机器人的最大承载能力。分析方法将力学计算和计算机仿真相结合,具有计算量小,可操作性强等特点,为设计并联机器人承载能力提供了一种有效方法。
A kind of 6 DOF parallel robot used for precision positioning of target and its working characteristics were introduced. Main influencing factors of carrying capacity of target positioned parallel robot have been studied. By adopting the method of combining calculation with CAF, CAE a systematic analysis was carried out on carrying capacity of target positioning parallel robot. An overall consideration was carried out in the course of analysis on each affecting factor, the relationship chart between driving force and load bearing force was presented and the maximum carrying capacity of robot was determined. The analytical method combined mechanics computation with computer simulation, which bears the characteristics of less amount of calculation and strong in operability etc. thus provide a kind of effective method for designing carrying capacity of parallel robot.
出处
《机械设计》
CSCD
北大核心
2007年第8期52-55,共4页
Journal of Machine Design
关键词
并联
机器人
影响因素
承载能力
parallel connection
robot
affecting factor
carrying capacity
作者简介
刘彦武（1977-），男，陕西富平人，博士研究生，主要研究方向：并联机器人、机电一体化、精密机械。
