柔顺关节并联机器人设计与实验

通过实验研究,运用结构参数化方法设计了满足要求的柔顺关节,用以代替传统运动副进行传动,建立了含有柔顺关节的柔顺并联机器人机构,并与控制系统和OPTOTRAK测量系统一起组成实验系统,开展柔顺关节并联机器人动力学建模、分析、设计、规划与控制等方面的系统研究.以3自由度柔顺并联机器人为研究对象,分别对用转动副传动的刚性并联机器人和用柔顺关节传动的柔顺并联机器人进行了实验研究.通过对实验数据的对比分析,各项实验指标相对误差均控制在允许之内,表明在并联机器人中用柔顺关节取代转动副的有效性.

Design and Experiment of Parallel Robot with Compliant Joints

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.