基于Pro/E二自由度并联机器人的结构设计

Structure design of two degree of freedom parallel robot based on Pro/E

摘要:

为了提高研发效率,需要将机器人的设计过程和分析过程集成起来。针对这一集成要求,提出了基于Pro/E二自由度的机器人仿真平台,并建立两自由度平移运动并联机器人运动仿真模型。验证了机构的实际工作空间和运动情况。最后指出了本机构的在实际中的应用。最后通过仿真了机器人的位置轨迹,速度轨迹以及加速度轨迹来验证,本文所设计的二自由度机器人性能良好、工作灵活,很好地满足了设计指标要求,具有一定的实用性。

Abstract:

in order to improve the efficiency of research and development, need to design process and analysis process of integrated robot. In view of this integration requirement, the robot simulation platform Pro/E based on two degrees of freedom, and the establishment of two degree of freedom motion translation parallel robot simulation model. To verify the mechanism of practical work space and movement. Finally pointed out the mechanism of application in practice. Finally the position trajectory simulation of the robot trajectory, velocity and acceleration to verify, two degree of freedom robot performance in the design, flexible good work, good to meet the design requirements, has a certain practicality.