燕山大学学报2017，Vol.41Issue(5)：387-394,8.DOI:10.3969/j.issn.1007-791X.2017.05.002
集中式输入并联机器人机构设计与仿真
Design and simulation of centralized input parallel robotic mechanism
摘要
Abstract
A method for designing the centralized input parallel robotic mechanism is proposed in order to meet the requirements of periodic task with fixed trajectory in the automatic production line. The input/output mapped relationship is established based on the kinematics inverse solution and the analytic displacement solution of the centralized transmission mechanism. the design of the centralized input curves is completed based on the curve fitting theory by mapping the discrete data of centralized input combined with the path points of the anticipant trajectory. Two new configuration of the centralized input parallel robotic mechanism with three and six limbs are designed, the equation of the centralized input curve is obtained by adopting the Fourier series approximation type curve fitting method that based on the least square method. Through the simulation analysis based on ADAMS with MATLAB, the feasibility of the method is verified.关键词
并联机器人/集中式输入/构型设计/曲线拟合Key words
parallel robot/centralized input/configuration design/curve fitting分类
机械制造引用本文复制引用
赵延治,韩瑞,张洁,齐立哲,王豪,李帅..集中式输入并联机器人机构设计与仿真[J].燕山大学学报,2017,41(5):387-394,8.基金项目
国家自然科学基金资助项目(51105322) （51105322）
河北省自然科学基金资助项目(E2014203176) （E2014203176）
河北省高等学校自然科学研究基金资助项目(QN2015040) （QN2015040）
中国博士后科学基金资助项目(2016M590212) （2016M590212）
