摘要
基于单开链单元的欠秩并联机器人机构型综合方法理论,提出用Ⅶ编程实现并联机器人机构型综合智能、系统、有效的新方法。该方法按动平台输出运动特性及自由度数:能快速生成所要求的一系列机型,能为优选机型并对机构进行运动学及动力学分析等提供基础。运用此方法对空间3自由度并联机构进行型综合,达到型综合自动化的目的,该方法可用于其他自由度并联机构的智能化型综合,具有普遍意义。提出的智能化型综合法改善了过去建立在人工劳动基础上且过程重复繁琐、工作量大、易发生疏漏现象、效率低的型综合方法,为型综合的研究发展开辟了一条新途径,具有良好的应用前景。
Based on the theory of structural synthesis and classification of degenerate-rank parallel robot mechanisms, which uses the units of single open chain limb. An intelligent, systematic and effective new method is put forward, which utilizes intelligent structural synthesis and classification of the parallel robot mechanisms by using VB. The method can produce a series of models according to the output movement characteristics of activated platform and degrees of freedom, and provide the foundation for a series of work such as kinematics and dynamics analysis. The new method can make the structural synthesis of 3 -DOF space parallel robot mechanisms automated. It is of universal significance and can be applied to mechanisms with other kinematics output types. Previous methods were repetitious, tedious inefficient and prone to make mistakes. The new method overcomes these problems, paves a new path for synthesis research development and has good application prospect.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第7期181-185,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金(50375071)
国防科工委民用航天十一五项目(C4220062501)
教育部高等学校博士点专项科研基金(20050299002)资助项目
关键词
并联机器人机构
单开链支路
智能化型综合
Parallel robot mechanisms Single open chain limb Intellectualized structural synthesis and classification
