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首页> 外文会议>IEEE/ASME International Conference on Advanced Intelligent Mechatronics >Preliminary Design Investigation of a RRPRR Parallel Manipulator with Cardan Joint and Direct Drive Actuation
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Preliminary Design Investigation of a RRPRR Parallel Manipulator with Cardan Joint and Direct Drive Actuation

机译：用型载体接头和直接驱动致动的RRPR并联机械手的初步设计研究

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Press Fit assembly of power electronic components is often performed with 3DOF machines which usually adopt a cartesian layout which is preferred to assure a stiff structure a precise control of high insertion forces. Parallel manipulators are often feasible as possible alternative solutions for this kind of application. In this work, authors investigate a parallel manipulator with cardan and prismatic joints. Proposed layout involves a relatively stiff and robust structure. Manipulator is supposed to be moved by direct-drive linear actuators. This choice is justified by the possibility of accurate control of heavy insertion losses simplifying or removing a large part of additional actuation and sensing systems that are normally installed on conventional machines.
机译：按压配合电力电子元件的组装通常是使用3DOF机器进行的，该机器通常采用笛卡尔布局，这是优选的，以确保刚性结构的精确控制高插入力。 并行操纵器通常是这种应用的可能替代解决方案。 在这项工作中，作者研究了一个平行的机械手，用载体和棱柱形接头。 提出的布局涉及相对僵硬和稳健的结构。 操纵器应该通过直接驱动的线性执行器移动。 这种选择是通过精确控制重型插入损耗的可能性，简化或移除通常安装在传统机器上的大部分附加的致动和传感系统的概念。

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