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Abstract: The
key problems of the application of Hooke joint on parallel robot are
presented. With the working space of Hooke joint is studied and
simulated, two methods are put forward and the exact expression of the
workspace of conjugated Hooke joint is calculated. The research result
is applied in both the optimal design of the parameters and the
interference check in the mechanism of 6-PTRT parallel robot, which
makes the robot have larger work space. Simultaneously, the interference
of gemel is avoided successfully. All of the results are useful in
optimizing design of the robot, reducing motion control algorithm, and
improving mechanical performance and security.
Key words: Hooke
joint Interference Parallel robot Workspace
CLC No: TP242
国家863计划资助项目(2004AA421030).Received
20050705,received in revised form 20060118
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