Professional Documents
Culture Documents
并联机器人机构静刚度研究现状与展望
并联机器人机构静刚度研究现状与展望
2010 3
V ol. 27 N o. 3
M ar.
2010
JO U RN A L O F M ACH IN E D ESIG N
( 1. ,
1, 2
, ,
300222; 2. ,
300072; 3. ,
300160)
: ,
4 ,
: ; ; ;
: T H 122
: A
,
, 30 ,
, ,
,
,
, ,
4
,
, A NSYS ,
,
,
[ 1- 3] ANSYS 3 T P T ,
,
[ 4]
6- UP S
, ,
1. 1
[ 5]
, U PS ,
,
[ 6- 7] AN SYS
6 ,
[ 8]
, BKXI
[ 9]
3RRR ,
[ 10]
,
4 St ew art
[ 11]
ANSYS St ew ar t
,
,
, , ,
, ,
1. 2
, T ripod
[ 14- 18]
, Zhang
, ,
, [ 19]
, T ricept
[ 20]
, Li
3- PUU
,
Kao [ 21]
,
, [ 22]
3- RP R
,
[ 23]
[ 24]
1. 3
, T sai [ 25]
4 3
[ 26] 4- RU C
,
[ 27]
Go ldsmit h 3- U PU
[ 28] ,
2
,
,
[ 29]
,
[ 30]
3
,
,
[ 31] 6 /
Yoon
[ 32]
Delt a ,
27 3
[ 33]
Bashar
Stew art , /
, ,
Svinin [ 34- 35] ,
St ew art Kim
[ 36] Stew art 3PRP S
Ro cco [ 37]
[ 38]
Wren sLi Xu 3PUU ,
M ler [ 39]
H uang [ 13] T ripod
,
[ 22]
3- RP R
1. 4
,
,
Yoon [ 40]
, Delt a
[ 41]
,
[ 42]
2 Kim T sai
,
3 Cart esian
Xu L i[ 43- 44]
,
3- PUU Zhang
[ 45]
Go sselin
, T r icept
Kim [ 46] x y
, ,
L iu [ 47] 3
,
, :
( 1) ,
,
2010 3
, :
, ,
( 2)
,
,
( 3) ,
,
,
( 4) ,
,
[ 18]
[ 19]
, , Ch et w ynd D G , . T ricept
[ J ] . , 2008, 44( 8) : 13- 19.
[ 20]
[ 21]
[ 1]
, , . A N SY S 3- T PT
[ 22]
, , , .
[ J ] . : , 2007, 28 ( 8) : 1171 -
, , .
[ 24]
[ J ] . , 2007, 45( 1) : 4- 6.
[ 4]
[ 5]
, , , . 6 - U PS
[ 8]
[ 9]
, , .
, . [ J] .
, , . A N A SY S
, . St ewart [ J ] .
2002 IEEE Int ern at ional C on feren ce on Robot ics and A ut oma
, . A N SY S
[ 28]
, .
, , , . S t ew art
452.
[ 13]
Y oon W K , S ueh iro T , Tsu mak i Y , et al. A met hod for an aly
377- 382.
zin g parall el m echan ism st if f nes s incl uding elast ic deformat ions in
t ional Con feren ce on Int elligent R ob ots and S yst ems , Lausanne,
of M achine T ools and M anuf actu re, 1999, 39: 321- 342.
[ 34]
anism s w it h a pass ive con st raini ng leg and revolut e actu at ors[ J ] .
IEEE Int ernat ional Conf erence on Rob ot ics and A ut omat ion, S an
, . 6 /
[ J] . , 2001, 12( 10) : 1092- 1094.
[ 32]
[ 15]
, , , . [ J] .
: , 2004, 44( 2) : 182- 185.
[ 31]
, , , . [ J ] .
, 2006, 28( 1) : 10- 14.
[ 30]
, , . 2
[ J ] . , 2006, 42( 7) : 181- 185.
[ 29]
, , . 4 [ J] .
, 2006, 42( ) : 31- 34.
[ 27]
, .
[ J] . , 2006, 42( 10) : 142- 146.
[ 25]
, , , .
[ J] . , 2008, 53( 3) : 364- 372.
1173.
[ 3]
Zh ang D , G osselin C M . K inet ost at ic anal ysis and design opt imi
M anuf act uring Sci ence and Engin eering, 2002, 124: 725- 733.
[ 46]
K im J W , K im K W, K im H S , et al . St if fn es s analysis an d de
753- 759.
t rol, A u tomat ion and Syst ems, Seoul, K orea, 2007: 2288 -
[ 38]
Zh ang D , G osselin C M . K inet ost at ic anal ysis and design opt imi
zat ion of th e Tri cept mach ine t ool f ami ly[ J ] . A SM E Journal of
[ 37]
27 3
2293.
[ 47]
567.
1257- 1267.
[ 40]
[ 41]
, , , . 2
[ J ] . , 2005, 41( 7) : 158- 163.
[ 42]
K im H S , T sai L W . D esi gn opt imi zat ion of a cart esian paral lel
m anipu lat or [ J ] . A SM E Journal of M ech anical D es ign, 2003,
125( 1) : 43- 51.
[ 43]
[ 44]
#
# , , ,
, , #
, 20 , A4 , 20
# : , ; ,
, ,
# ( )
!
! - , #
#
# ( )
#
% , , %