六自由度并联机器人设计和关键技术研究

摘要

In the paper ,the rotary input type 6‐DOF parallel robot has been designed based on the related theory of parallel mechanism and the actural requirements .This parallel robot using a rotary motor as the input power ,realizes the requirement that the parallel robot is six degrees freedom through six transmission structures including the bevel gear steering ,R(rotation)‐T (hook hinged)‐R (rotation)‐T(hook hinged) .The analysis of position and workspace is the key technology of parallel robot .Based on the trajectory method ,this article obtains the movement space of this parallel robot by analyzing the posts and inverted solution of the rotary input type parallel robot ,at the same time ,simulates the workspace of parallel robot by use of MATLAB software .%根据并联机构的有关理论和实际需求设计了旋转输入式6自由度并联机器人，该并联机器人以旋转电机为输入动力，通过6个由锥齿轮转向器、R‐T‐R‐T组成的传动结构实现并联机器人的6自由度要求。基于轨迹法对旋转输入型并联机器人进行了位置逆解分析，同时基于MATLAB对并联机器人的工作空间进行了仿真，得到了此并联机器人的运动空间结果。