| 三自由度平面驱动冗余并联机器人的设计空间 |
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| 引用本文： | 王冰.三自由度平面驱动冗余并联机器人的设计空间[J].华北航天工业学院学报,2012(1):1-3. |
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| 作者姓名： | 王冰 |
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| 作者单位： | 北华航天工业学院机械工程系,河北廊坊065000 |
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| 基金项目： | 河北省科学技术研究与发展计划项目（10212153） |
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| 摘 要： | 机器人机构尺寸综合是一个极其复杂而重要的问题，本文采用空间模型理论将三自由度平面驱动冗余并联机器人机构无限多维的物理尺寸转换为三维而有限的设计空间中，进一步得到了设计空间的平面图，并给出了其应用例。设计空间的建立为研究该机器人性能与尺寸关系及其优化设计奠定了基础。
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| 关 键 词： | 并联机器人 驱动冗余 设计空间 性能图谱 |
The Design Space of Planar 3 - DOF Parallel Manipulator with Actuation Redundancy |
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| WANG Bing.The Design Space of Planar 3 - DOF Parallel Manipulator with Actuation Redundancy[J].Journal of North China Institute of Astronautic Engineering,2012(1):1-3. |
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| Authors: | WANG Bing |
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| Institution: | WANG Bing HAN Shu-kui (Mechanical Engineering Department, North China Institute of Aerospace Engineering, Langfang 065000, China) |
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| Abstract: | The optimum design of the parallel manipulators is a complex and important issue. The unlimited multi-dimensional physical size of planar 3 - DOF parallel manipulator with actuation redundancy is transformed into three-dimensional limited design space by using physical model of the solution space theory. The diagrams of the design space are obtained and the examples of application of the design space are given. The design space is the design basis for the study of the relationship between the link lengths and performance criteria and optimum design of the manipulator. |
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| Keywords: | parallel manipulator actuation redundancy design space performance atlases |
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