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以一种可实现末端运动平台平动且具有较小运动惯量的平面二自由度并联机器人机构为研究对象,分析其承载能力性能。与传统的分析和优化设计方法不同,综合考虑机器人机构的几何尺寸和运动变量的变化范围,作为机器人机构的运动学参数,利用空间模型理论,建立了机器人机构的设计空间。在设计空间内计算机器人机构的承载能力性能指标并绘制了相应的承载能力性能图谱,并探讨了机构承载能力性能指标与运动学参数之间的关系。这些图谱为设计者评价该机器人机构的承载能力性能和选择优化的运动学参数提供了帮助。提出的新方法也为以移动副为驱动的平面并联机器人分析与优化设计提供了一种有效的新途径。
A kind of planar 2-DOF parallel robot mechanism that can move the end platform and has a small moment of inertia is taken as the research object to analyze its bearing capacity performance. Different from the traditional methods of analysis and optimization design, considering the geometrical size of robot mechanism and the variation range of motion variables, as the kinematics parameters of the robot mechanism, the design space of the robot mechanism is established by using the space model theory. In the design space, the carrying capacity of robot mechanism is calculated, and the corresponding bearing capacity performance is plotted. The relationship between the performance index of the bearing capacity and the kinematic parameters is also discussed. These maps help designers evaluate the load-carrying performance of this robot mechanism and choose the optimal kinematic parameters. The proposed new method also provides an effective new approach for the analysis and optimization design of planar parallel robots driven by moving pair.