| 基于DELTA机构的堆垛机器人 |
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| 引用本文： | 华为实.基于DELTA机构的堆垛机器人[J].西南交通大学学报,1999,34(3):290-294. |
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| 作者姓名： | 华为实 |
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| 作者单位： | 四川轻化工学院,电子工程系,自贡,643033 |
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| 摘 要： | 介绍了一种基于ＤＥＬＴＡ机器人机构的堆垛机器人设计，这种堆垛机器人和同等规格的串联机器人相比，具有高刚度，高精度和低机动质量等特点，适合于高速堆垛及搬运等操作。此设计还具有其他一些潜在应用，讨论了ＤＥＬＴＡ机构的奇异形位和运动学逆解等。
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| 关 键 词： | 运动学 机器人 堆垛 DELTA机构 奇异形位 |
A Palletising Robot Based on the DELTA Robotic Mechanism |
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| Hua Weishi.A Palletising Robot Based on the DELTA Robotic Mechanism[J].Journal of Southwest Jiaotong University,1999,34(3):290-294. |
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| Authors: | Hua Weishi |
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| Abstract: | A design of palletizing robot based on the DELTA robotic mechanism is presented in the paper. The robot has high rigidity, high accuracy, and low mobile mass relative to an equivalent serial robot. It is suitable to be used for rapid palletizing and transfer operating. The design could have some other potential applications. The singularities and inverse kinematic solution of the DELTA robot are discussed. |
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| Keywords: | kinematics robots singularity palletisation DELTA mechanism |
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