并联机器人结构及驱动方式合理性的探讨

刘辰; 赵升吨

并联机器人结构及驱动方式合理性的探讨

刘辰,
赵升吨

1.
西安交通大学机械工程学院,西安 710049

详细信息

作者简介:
刘辰(1988-),硕士研究生,研究方向为伺服控制和并联机器人,liuchenand2006@sina.com;赵升吨(联系人),教授,博士生导师,sdzhao@mail.xjtu.edu.cn

刘辰(1988-),硕士研究生,研究方向为伺服控制和并联机器人,liuchenand2006@sina.com;赵升吨(联系人),教授,博士生导师,sdzhao@mail.xjtu.edu.cn

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出版历程
- 收稿日期: 2012-04-12
- 刊出日期: 2015-06-10

Discussion of the Rationality of Parallel Robots'Structure and the Driving Methods

1.
School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049

摘要

摘要: 介绍了工业串联机器人结构中存在的不足,阐述了并联机器人的特点、应用范围、发展历程及其基本组成。对并联机器人按照变杆长驱动型、摆杆驱动型、柔索驱动型以及其他驱动型等4种典型传动结构进行探讨;分析了应用在并联机器人中的液压驱动、伺服电机驱动等不同驱动方式的优缺点,进而明确的指出交流伺服电机驱动方式在并联机器人领域具备明显的优势。
- 并联机器人 /
- 传动方式 /
- 机构学 /
- 动力学特性
Abstract: In this paper, the insufficiency of serial robot structure was introduced.The characteristics, application and basic components of parallel robots were summarized.The parallel robot as variable length shaft driving meth-od, swinging rod driving method, soft cable driving method and other driving method were classified.Then the difference in each structure is analyzed.By the contrast of several driving method, such as hydraulic driving sys-tem, servo driving system applied on parallel robot, it is concluded that at this stage the AC servo motor driving system has more competitive strength than any other systems.The rationality of the transmission mechanism applied in parallel robot was discussed.Then this article looks into the further of the development of parallel robot driving method.
- robots /
- electric drive /
- mechanical properties /
- dynamic response

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