约束机构在柔索并联机器人设计中的应用

柔索并联机构是一类新型的机构 ,具有一些优于其他机构的特点 ,但因柔索特性的限制 ,可实现的运动形式较少。本文通过增加约束机构对运动平台运动进行限制 ,扩大了柔索并联机构的应用范围。文章提出约束机构的概念 ,讨论了约束机构的种类 ,并进行奇异位形的分析。

The parallel wire-driven robot is a new type of robot, it has some particular advantages over other types of robots. However, only a few configurations can be realized by the parallel wire-driven robot because of the restrictions by a wire′s characteristics. By introducing a restraining mechanism to restrict the movement of the platform, the application range of the parallel wire-driven robot can be greatly extended. This paper brings forward the concept of such a restraining mechanism, discusses its categories and analyses the robot′s singular configuration.

国家自然科学基金项目 (5 0 2 75 14 3 )资助