一种基于螺旋理论的旋转类人腕部并联机器人

2009 Second International Workshop on Knowledge Discovery and Data Mining Pub Date : 2009-01-23 DOI:10.1109/WKDD.2009.104

Guoxin Zhang, Song Zhu, Dachang Zhu, Cui Wu

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引用次数: 0

摘要

基于螺杆理论，分析了一种不涉及任何移动关节、由6个圆形电机驱动的并联机器人——旋转类人腕(RHW)。利用等长分支simulink工具建立了RHW的模型。分析了机器人的可迁移性，给出了实现机器人工作空间体积最大化的主要参数的最优组合

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A Novel Parallel Manipulator for Rotary Humanoid Wrist Based on Screw Theory

A class of parallel manipulators known as Rotary Humanoid Wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of RHW is analyzed and the optimal combination of the main parameters for maximizing the workspace volume of RHW is also given

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2009 Second International Workshop on Knowledge Discovery and Data Mining

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