[1]刘 玮,常思勤.六棱锥式并联机器人结构设计与性能分析[J].南京理工大学学报(自然科学版),2013,37(02):257.
 Liu Wei,Chang Siqin.Structure design and performance analysis of six-pyramid parallel robot[J].Journal of Nanjing University of Science and Technology,2013,37(02):257.
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六棱锥式并联机器人结构设计与性能分析
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年02期
页码:
257
栏目:
出版日期:
2013-04-30

文章信息/Info

Title:
Structure design and performance analysis of six-pyramid parallel robot
作者:
刘 玮常思勤
南京理工大学 机械工程学院,江苏 南京 210094
Author(s):
Liu WeiChang Siqin
School of Mechanical Engineering,NUST,Nanjing 210094,China
关键词:
并联机器人 六棱锥结构 运动学 动力学
Keywords:
parallel robots six-pyramid structure kinematics dynamics
分类号:
TH12
摘要:
针对越野路况模拟中路况转角较大的问题,设计了一种六棱锥式并联机器人。分析了该机器人的结构、自由度和工作原理,采用几何法和拉格朗日法分别建立了运动学和动力学模型。通过算例获得了机器人的工作空间以及电机位置和驱动力与负载平台运动轨迹的映射关系。制作了样机并测试其平动和转动性能。实验结果表明,样机转动角最大为55°,能够满足大转角路况模拟的要求; 实际性能与仿真结果吻合,验证了该文设计的可行性与仿真的正确性。
Abstract:
A six-pyramid parallel robot for the large angle in the cross-country road simulation is designed.Its structure,degree of freedom and working principle are analyzed.The kinematics model and the dynamics model are respectively established by the geometric and the Lagrange method.Examples present the workspace of the robot and the relationship between the motor position and the driving force with the load platform motion.A prototype is fabricated and its translational and rotational performance are tested.The experimental results show that the max angle of the prototype is 55° and the prototype can meet the requirements of the large angle condition simulation.The actual performance is coinciding with simulation results,verifying that the design is feasible and the simulation is correct.

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备注/Memo

备注/Memo:
收稿日期:2011-10-27 修回日期:2012-06-05
基金项目:江苏省科技支撑计划(BE2008133)
作者简介:刘玮(1986-),男,博士生,主要研究方向:六自由度并联机器人设计理论、运动学和动力学分析,机器人仿真与优化,E-mail:singo5151@163.com;
通讯作者:常思勤(1954-),男,博士,博士生导师,主要研究方向:高性能电磁直线执行器及其应用、车辆电子控制及机电液一体化技术,E-mail:changsq@njust.edu.cn。
更新日期/Last Update: 2013-04-30