【摘要】 基于Stewart并联机器人构型和偏置柔性虎克铰链，利用双螺旋副差动传动的方案设计了一款低成本高精度6-RR-RP-RR构型的6-DOF并联机器人。首先，基于双螺旋副差动传动原理，分别提出了串联和并联两种差动驱动方案，并对柔性虎克铰链进行了设计，确定了最终的整机结构设计方案；其次，对柔性铰链的柔度进行了理论建模，并仿真验证了其柔度和强度设计的合理性；此外，对该并联机器人开展了逆运动学分析，建立了其运动学模型，并采用牛顿-拉普拉森数值迭代方法进行了求解；最后，分别利用多体动力学和Ansys仿真软件验证了整机运动学模型和求解的准确性。更多还原

【Abstract】 Based on Stewart parallel robot configuration and offset flexible Hooke hinge, a 6-DOF parallel robot with 6-RR-RP-RR configuration was designed by double screw pair differential transmission scheme.Firstly, based on the double screw differential transmission principle, two kinds of series and parallel differential drive schemes were proposed respectively, and the flexible Hook hinge was designed, and the final structural design scheme of the whole machine was determined.Secondly, the flexibility of the flexure hinge is modeled theoretically, and the rationality of the flexibility and strength design is verified by simulation.In addition, the inverse kinematics of the parallel robot is analyzed, its kinematics model is established, and the solution is solved by the Newton-Raphson numerical iteration method.Finally, Adams and Ansys software were used to verify the accuracy of kinematics model and solution.更多还原