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.
| Original language | English |
|---|---|
| Pages (from-to) | 120-124 |
| Number of pages | 5 |
| Journal | Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering |
| Volume | 42 |
| Issue number | 8 |
| DOIs | |
| State | Published - Aug 2006 |
Keywords
- Hooke joint
- Interference
- Parallel robot
- Workspace
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