《机床与液压》 Hydromechatronics Engineering

文章详情

稿件标题: A Study on Workspace of Planar 2-DOF Redundant Drive
稿件作者: CHAI Baoming, WANG Yuandong
关键字词: parallel robot, redundant drive, workspace; structure parameters, functional relationship
文章摘要: The problems of research on workspace of planar parallel mechanism were proposed in this paper. Then taking a 2-DOF parallel robot as the research object, this paper painted the 2D map of workspace based on dimensionless parameters and solved the workspace of parallel robot. The functional relationships between structure parameters and workspace shape were built. Afterwards the 2D map of workspace was analysed and the law of workspace influenced by structure size parameters, which provided significant reference for designing mechanism and planning trajectory, was obtained. In addition, the further analysis of workspace of parallel robot was also greatly simplified.
收录刊物: 2013.6
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