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提出一种新颖的三维平动球平台机器人并分析其位置与工作空间问题。该新型机器人是DELTA机器人的一种变异形式,结合其结构布局特点,建立了其位置正反解方程式,分析其工作空间及其影响因素,为其设计和实用化提供理论依据。该新型机器人运动平台无过约束,在三维平动微动机器人、并联机床和振动环境模拟台等领域有广阔的应用前景。
A novel three-dimensional translational spherical platform robot is proposed and its position and working space are analyzed. The new robot is a variation of DELTA robot. Based on its structural layout, the new robot is established with positive and negative solution of its position, analyzed its working space and its influencing factors, and provided a theoretical basis for its design and practical application. The new robot platform without constraint, in the three-dimensional translation of fretting robot, parallel machine tool and vibration environment simulation platform and other fields have broad application prospects.