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与目前几乎仅绝对使用的串行结构相比,并行运动结构的机器人在各个领域的应用具有广阔前景.并行结构机器人的主要优点是有较高的结构刚度并可以实现较大的加速度.在并行结构机器人中,除了主动的关节(即驱动装置)之外,还需要被动的关节.这些被动的关节在大多数情况下都具有更多滑移自由度和转动自由度.对这些关节的要求主要是:移动性大、刚度高、质量轻以及结构空间紧凑.市场上现有的关节大都不能很好地满足这些要求.
Compared with serial structures, which are almost absolutely used at present, the robot with parallel motion structure has broad prospects in various fields.The main advantages of parallel structure robots are higher structural rigidity and greater acceleration, Structural robots, in addition to active joints (ie, drives), also require passive joints. These passive joints in most cases have more gliding degrees of freedom and freedom of rotation. The requirements for these joints are mainly Yes: High mobility, high stiffness, light weight and compact structure. Most of the existing joints in the market do not meet these requirements.