The Virtual Prototype Design Of One Kind Of Serial-parallel Robot With 3-PUU+2R Mechanism

摘要：

A kind of serial-parallel robot which is based on the mechanism 3-PUU+2R is studied in this paper. This robot has three translating degrees of freedom and two rotating degrees of freedom, and may be used on the accurate orientation occasion. The inverse solution of attitude and position in motion equation have been deduced, so we generating a hybrid robot virtual prototype example. In order to continual analyze character of mechanism, I guide the prototype of the robot into ADAMS software, we set up the simulation model of the movement, and get some experiment results. Comparing the experiment data with the theoretic value and confirm that the validity and rationality of mechanism designing and kinematics analysis.

关键词： 3-PUU+2R Serial-parallel Robot 5-DOF Virtual prototype

作者: Hongbin Lee Bo Wang Yumei Huang Xiaoming Wu

作者单位: School of life science and technology Xian Jiaotong University Xian, Shaanxi Province 710049, China

会议类型: 国际会议

会议名称: 2009 IEEE 10th International Conference on Computer-Aided Industrial Design & Conceptual Design(2009 IEEE 第十届国际计算机辅助工业设计与概念设计学术会议 CAID&CD2009)

会议地点: 温州

会议语种:英文

页码: 649-652

在线出版日期: 2009-11-26（万方平台首次上网日期，不代表论文的发表时间）