中国机械工程 ›› 2010, Vol. 21 ›› Issue (19): 2308-2312.

• 机械基础工程 • 上一篇    下一篇

一种新型并联机器人的静力学优化设计

吴孟丽;王立文
  

  1. 中国民航大学,天津,300300
  • 出版日期:2010-10-10 发布日期:2010-10-20
  • 基金资助:
    中国民航大学科研启动基金资助项目(07qd09X)

Statics Optimum Design of a New Parallel Robot

Wu Mengli;Wang Liwen
  

  1. Civil Aviation University of China,Tianjin,300300
  • Online:2010-10-10 Published:2010-10-20

摘要:

针对飞机结构件的加工,设计了一种新型三自由度并联机器人。在SKM400机构的基础上进行了该机器人机构的非对称变型设计,并建立了其运动学模型。在传统的虚位移原理法中引入影响系数,并将其与广义坐标结合来分析静力学问题。采用弹簧来平衡机构自重,并进行了参数优化设计,这使得各支链的驱动力在平衡后大幅减小,计算结果表明静平衡是成功的。

关键词:

Abstract:

Aiming at handling the airplane structures, this paper dealt with a new sub-6 DOF asymmetrical parallel mechanism, named “TAM”.The
robot was a modified version of the SKM400.The innovation of the new parallel robot
 was systematically addressed. Amendment of virtual displacement was used for statics analysis of the robot.The virtual displacement was in conjunction with the influence coefficients and generalized coordinates, so the generalized velocity and virtual displacement
were unified. The spring was used and with parametric optimization, the static balancing for TAM is achieved. 

Key words: parallel kinematic machine, statics, virtual displacement, optimum design

中图分类号: