并联连杆机械手样机的设计、分析与构造

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262388

T. Arai, K. Cleary, Tatsuya Nakamura, H. Adachi, K. Homma

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引用次数: 58

摘要

本文讨论了并联连杆机械手的特点、机构分析、设计方法及概述。采用奇异值分解法对并联机构进行静力学分析，给出了实现平衡良好并联机构的评价准则。在此基础上提出了一种新的构型，并讨论了原型机械手的基本特征

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Design, analysis and construction of a prototype parallel link manipulator

The paper discusses characteristics mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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