学术
3-RSS／S踝关节康复并联机器人的速度各向同性分析
何春燕[1] 张小俊[2] 张泰[3] 李波[2]
[1]河北工程大学信息与电气学院,河北邯郸056038 [2]河北工业大学机械学院,天津300130 [3]邯郸钢铁集团公司,河北邯郸056000
摘 要:
机器人的速度性能与其机构尺寸参数之间的关系是机器人机构设计时应考虑的重要问题．以3-RSS／S踝关节康复并联机器人为研究对象，根据空间模型和各向同性度探讨了其速度性能和机构尺寸之间的关系，并绘制了相应的性能图谱，这些图谱可作为机构尺寸优化的依据．[著者文摘]
文章出处:
《河北工业大学学报》-2007年36卷4期 -39-43页
分 类 号:
文献标识码:
A
文章编号:
1007-2373（2007）04-0039-05
Velocity Isotropy Analysis of the 3-RSS/S Ankle , Rehabilitation Parallal Robot
HE Chun-yan, ZHANG Xiao-jun , ZHANG Wai , LI Bo （ 1. School of Information and Electronic Engineering, Hebei University of Engineering, Handan 056038, China; 2. School of Mechanical Engineering, Hebei university of Technology, Tianjin 300130, China; 3. Handan Steel Grounp, Handan 056038, China ）
Abstract:
The relationship between robot＇s speed performance and configuration dimensions is the most important matter for the structure design of the robot This paper takes a 3-RSS/S ankle rehabilitation parallel robot as the study object, and based on the spatial model and isotropy of the parallel robot probes the relationship between speed performance and con- figuration dimensions of the robot. The corresponding performance atlas has been plotted, these atlas are an important base for the optimal design of the parallel robot.[著者文摘]
Key words:
parallal robot; performance analysis; optimum design; performance atlas
基金资助:
河北省自然科学基金（E2007000069）
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