基于Planar 6R的多模移动并联机构

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI:10.1145/3351917.3351921

Zhi Chen, Chunyan Zhang, Mao-sheng Li

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引用次数: 0

摘要

将平面6R机构应用于机构设计，提出了一种具有滚动和行走两种模式的新型并联机器人。然后，采用单环运动链构型综合法阐述了机构生成原理;采用矢量法对机构进行了运动学分析。最后利用ADAMS软件对该机构进行仿真。仿真结果表明该机构的两种运动模式都是可行的，为样机的制造提供了理论依据。

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A Multi-mode Mobile Parallel Mechanism Based on Planar 6R

The planar 6R mechanism is applied to the design of the mechanism, and a novel type of parallel robot with two modes of rolling and walking is proposed. Then, the mechanism generation principle expounded by using the configuration synthesis method of single-loop kinematic chain; the kinematics of the mechanism is analyzed by using vector method. Finally, the mechanism simulated by ADAMS software. The simulation results show that the two motion modes of the mechanism are feasible, which provides a theoretical basis for the prototype manufacture.

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Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering

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