| 含有柔顺关节的并联机器人轨迹跟踪实验 |
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| 引用本文： | 余跃庆,吕强,马兰.含有柔顺关节的并联机器人轨迹跟踪实验[J].北京工业大学学报,2015(4):486-492. |
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| 作者姓名： | 余跃庆 吕强 马兰 |
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| 作者单位： | 北京工业大学 机械工程与应用电子技术学院,北京,100124;北京工业大学 机械工程与应用电子技术学院,北京,100124;北京工业大学 机械工程与应用电子技术学院,北京,100124 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明:柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.
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| 关 键 词： | 柔顺关节 并联机器人 轨迹跟踪 |
Experimental Study on Trajectory Tracking of Parallel Robots With Compliant Joints |
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| YU Yue-qing,Lü Qiang,MA Lan.Experimental Study on Trajectory Tracking of Parallel Robots With Compliant Joints[J].Journal of Beijing Polytechnic University,2015(4):486-492. |
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| Authors: | YU Yue-qing Lü Qiang MA Lan |
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| Abstract: | A compliant parallel manipulator with compliant joints instead of rigid ones was built. The trajectory of the 3-DOF compliant-joint robot's moving platform was tracked and measured by the OPTOTRAK system. Comparative analysis shows that the compliant parallel robot runs smoothly. The errors caused by axial drift and vibration are controlled within the allowed range. |
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| Keywords: | compliant joint parallel robot trajectory tracking |
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