Development of a Five-drive Parallel Kinematics Machine .fr

In the field of robotics, the parallel kinematics machines are used for several ..... The structure was conformed welding UPN beams and the stiffness of the whole.
3MB taille 2 téléchargements 227 vues
'HYHORSPHQWRID)LYHGULYH3DUDOOHO .LQHPDWLFV0DFKLQH $OEHUWR+HUUHUR0LNHO=DWDUDLQDQG;DQWL$OPDQGR]

)81'$&,217(.1,.(5

$YGD2WDROD

(LEDU±6SDLQ

(PDLOP]DWDUDLQ#WHNQLNHUHV

$%675$&7

7KHROGHVWSDUDOOHONLQHPDWLFVPDFKLQHVGHYHORSHGLQWKHSDVWKDGVL[GULYHQDUPVREWDLQLQJ FRQWURORQWKHVL[GHJUHHVRIIUHHGRPRIWKHKHDGVWRFN$OWKRXJKLQWKHODWHVW\HDUVVRPH FRQILJXUDWLRQVRISDUDOOHONLQHPDWLFVPDFKLQHVZLWKWKUHHGULYHVDQGWKUHHGHJUHHVRIIUHHGRP ZHUHGHYHORSHGWKHVROXWLRQRIVL[GULYHQDUPVLVWKHPRVWXVXDO 2SSRVLWHWRDURERWDPLOOLQJPDFKLQHWDNHVQRSURILWIURPRQHRIWKHWKUHHDQJXODUGHJUHHV RIIUHHGRPWKDWRIWKHURWDWLRQDURXQGWKHPDLQVSLQGOHD[LV%HFDXVHRIWKDWWKHSRVVLELOLW\ RIDSDUDOOHONLQHPDWLFVPDFKLQHZLWKRQO\ILYHGULYHQDUPVLVRILQWHUHVW

,QSDUDOOHONLQHPDWLFVPDFKLQHVGHYHORSHGXSWRQRZWKHZRUNVSDFHVKDSHLVYHU\GLIIHUHQW IURPDFXEHDQGZKHQRQHRIWKHLUVL[GULYHVLVEORFNHGLQDQ\SRVLWLRQWKHFXEHWKDWFDQEH LQVFULEHGLQWKHUHVXOWLQJZRUNVSDFHLVYHU\VPDOO

$QHZFRQILJXUDWLRQRISDUDOOHONLQHPDWLFVPDFKLQHZLWKRQO\ILYHGULYHQDUPVDQGKLJK ZRUNVSDFHUDWLRKDVEHHQGHYHORSHG7KHFRQILJXUDWLRQVXSSOLHVTXLWHDFXELFVKDSHG ZRUNVSDFHZKLFKLVFRQVLGHUHGWREHDGYDQWDJHRXVDQGWKHDFWXDWRUVRULHQWDWLRQLVVHOHFWHG LQVXFKDZD\WKDWWKHVWLIIQHVVRIWKHPDFKLQHLVDOPRVWFRQVWDQWLQDQ\SRVLWLRQ

2WKHUDGYDQWDJHRIWKHFRQILJXUDWLRQLVWKHSRVLWLRQRIWKHZRUNWDEOHYHU\FORVHWRWKH RSHUDWRUZKLFKLVQRWWKHFDVHIRUPRVWRIWKHSDUDOOHONLQHPDWLFVPDFKLQHV

.(