Design and experiment of parallel robot with compliant joints - 文章详情页

作者：

Yu, Yueqing (Yu, Yueqing.) (学者：余跃庆) | Cui, Zhongwei (Cui, Zhongwei.) | Zhao, Xin (Zhao, Xin.) | Ma, Lan (Ma, Lan.)

收录：

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摘要：

Compliant　joint　is　mostly　applied　in　the　field　of　micro-operations.　Instead　of　traditional　kinematic　pairs,　compliant　joints　were　designed　by　using　method　of　structural　parameters　to　satisfy　the　experimental　requirement,　and　a　parallel　robot　with　compliant　joints　was　proposed.　Combined　with　the　control　unite　and　OPTOTRAK　measurement,　the　experiment　system　of　a　3-DOF　compliant　parallel　robot　was　set　up　for　the　mechanism　dynamics　modeling,　analysis,　design,　planning,　and　control　system.　The　experimental　study　of　the　parallel　robot　with　compliant　joints　was　presented,　compared　to　that　with　revolute　joints.　Through　comparative　analysis,　relative　errors　of　the　experimental　index　were　controlled　within　the　allowable　range.　The　experimental　result　showed　the　validity　of　compliant　joints　in　replacing　the　kinematic　pairs　of　parallel　robots.

关键词：

Universal joints Robot programming Machine design Kinematics Design Robots Experiments

作者机构：

[ 1 ] [Yu, Yueqing]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Cui, Zhongwei]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Zhao, Xin]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Ma, Lan]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

通讯作者信息：

电子邮件地址：

yqyu@bjut.edu.cn

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