【摘要】 以一种运动平台作平面内平动且具有较小运动惯量的平面二自由度并联机器人为研究对象,不同于以往的研究方法,这里综合考虑机器人的输入与机器人机构的几何尺寸作为机器人运动学参数,对它们量纲一化,建立了该机器人机构的设计空间。在设计空间内计算机器人刚度性能评价指标,进而绘制了机器人刚度性能图谱,在此基础上探讨了机器人机构刚度性能与运动学参数之间的关系。刚度性能图谱将有助于该机器人机构的分析和设计,这里提出的新的研究方法为以移动副为驱动的平面并联机器人的机构综合提供了一种全面而有效的方法。更多还原

【Abstract】 A kind of planar 2-DOF parallel manipulator with planar translational motion and smaller inertia is taken as the object of study. Unlike the traditional study method,not only the geometric parameters but also the input of the manipulator are considered as the kinematics parameters,the design space is obtained by normalizing the kinematics parameters. The stiffness performance indices are calculated in the design space,the stiffness atlases of the manipulator are plotted,and the relationship between the stiffness and the kinematics parameters of the manipulator is discussed. The atlases are very useful for analysis and design of the manipulator and the new method also provides a comprehensive and effective way for design of planar parallel manipulator that is actuated by linear actuators.更多还原