摘要
提出运用计算机辅助几何法来研究新型4自由度并联机器人的位置和工作空间的问题,利用在CAD软件草图环境下建立的并联机器人模拟机构,基于并联机器人的模拟机构,分析出一种4自由度2UPU/2SPS并联机器人的位置和工作空间。模拟结果表明,计算机辅助几何法的应用不但大大简化了并联机器人机构分析位置和工作空间难度,而且快捷直观,值得推广。
Utilizing the computer aided geometrical method to study the problems of the position and working space of new typed 4 DOF parallel robot. Using the simulation mechanism of parallel robot established under the sketch environment of CAD software and based on the simulation mechanism of parallel robot the position and working space of a kind of 4 DOF 2UPU/2SPS parallel robot have been analyzed. The result of simulation showed that the computer aided geometric method could not only greatly simplify the difficulty in analyzing the position and working space of parallel robot but is also speedy and direct-viewing and thus worthy to be popularized.
出处
《机械设计》
CSCD
北大核心
2009年第3期40-43,共4页
Journal of Machine Design
