摘要
提出了一种新型双并联结构的主手构型 ,由于采用了平动与转动分离的两层并联结构 ,在保证了结构紧凑的同时 ,实现了运动空间的最大化 ,平动与转动的完全解耦特性大大减小了空间内出现奇异的可能性。另外 ,采用柔性传动方式实现了转动机构运动与驱动部件的分离 ,将所有驱动部件固定于基座 ,有效地减小了运动惯量 。
A kind of new typed main manipulator with double parallel structures has been advanced. Due to the adoption of two layered parallel structure with a separation of translation and rotation, while ensuring a compaction of structures the maximization of motion space was achieved at the same time. The complete decoupling property of translation and rotation will reduce greatly the probability of singularity appeared in the space. Moreover, with the adoption of flexible mode of transmission the separation between movement of rotating mechanism and driving subassemblies was realized. Fix all driving subassemblies on the pedestal will decrease the motive inertia effectively, thus built a foundation for realizing a comparatively high dynamic quality of the system.
出处
《机械设计》
CSCD
北大核心
2003年第8期34-36,共3页
Journal of Machine Design
基金
8 63计划资助项目 (2 0 0 1AA42 2 2 50 )
