哈尔滨商业大学学报（自然科学版）2013，Vol.29Issue(3)：323-327,5.
四自由度高速并联机器人的研究
Research on 4-DOF high-speed parallel robot
摘要
Abstract
The high-speed parallel robot with all actuators fixed on its base can perform pickand-place operations at high-speed and high-acceleration,which is widely used in food produce and electronic manufacturer.According to the actual constrained condition,the kinematics model of the novel 4-DOF parallel mechanism was modeled.The explicit inverse kinematics solution of the mechanism was deduced,and the Newton-Raphson iterative method for solving process of the forward kinematics solution was built,the size parameters were optimized.To improve the practical situation for food sorting in our country,the high-speed parallel robot packaging system was constructed based on the parallel mechanism and machine vision.关键词
并联机器人/四自由度/机构分析/自动分拣Key words
parallel robot / 4-DOF/ mechanism analysis / auto-sort引用本文复制引用
晏祖根,孙小华,莫文超,孟爽,孙智慧..四自由度高速并联机器人的研究[J].哈尔滨商业大学学报（自然科学版）,2013,29(3):323-327,5.基金项目
国家“十二五”科技支撑计划项目(2011BAD24B01) （2011BAD24B01）
