论文标题
平行运动学定位系统中的刚性链
Rigid chain in parallel kinematic positioning system
论文作者
论文摘要
本文介绍了现代机器建造技术设备运动学结构发展趋势的分析。在处理，测量和处理设备，其优势和缺点的过程中，使用与平行运动学的机器一起使用的前景。结果表明，在具有平行运动学的机器中使用球螺钉驱动器是不足的，执行低精度的任务，但位移超过3000 mm。考虑了Serapid公司的刚性链系统及其在具有平行运动学的机器中使用的可能性。提出了基于平行运动学的三坐标操作机器人的示意溶液，并提出了刚体链上的驱动机制。
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling equipment, their advantages and disadvantages are demonstrated. It is shown that it is inexpedient to use ball screw drives in machines with parallel kinematics, performing tasks of low accuracy, but with displacements of more than 3000 mm. The rigid chain system of the Serapid firm and the possibility of its use in machines with parallel kinematics are considered. A schematic solution of a three-coordinate manipulation robot based on parallel kinematics with drive mechanisms on rigid chains is proposed.
