可实现SCARA运动的新型并联机器人机构及其动态特性研究

工业机器人技术的高低已经逐渐成为衡量一个国家工业发展水平的重要依据。目前我国高速机器人在相关产业中的应用正处于起步阶段，而国际上一些先进发达国家则已进入推广应用阶段。这种技术上的阶段性差距，必须通过实施跨越式发展才能消除。本项目密切结合工业生产线上对高速SCARA并联机器人的迫切需求，研究其构型综合及动态特性保证等关键理论与技术，提出简洁直观的构型综合方法，发明具有工程实用价值的拥有自主知识产权的原理新构型，建立面向高速轻载、高转动输出的性能评价指标，提出机电耦合参数整定方法、轨迹规划方法以及动静态精度设计及保证方法，以全面掌握其动态特性保证技术，并开发一台物理样机进行实验测试及工程应用，形成以理论与技术研究紧密结合为特色的高速SCARA并联机器人的构型创新理论以及综合动态特性保证技术，为我国高速机器人的自主创新及机器人技术的工程应用和发展奠定重要的理论和技术基础。

The development level of the industrial robots has gradually become the criteria to evaluate the industry level of a country. In contrast to the extending stage in the developed country, the application of the high-speed robot in our country is at the start-up stage. To eliminate the technical gap, leap-forward development is the feasible and only road. According to the urgent industrial demands for the high-speed parallel robots with SCARA motions, this project focuses on some key theories and techniques in terms of type synthesis and dynamic performance assurance. In order to entirely master the technique of dynamic performance assurance, the following research works must be carried out: propose a concise and intuitive type synthesis method; derive some novel mechanisms with practical value and intellectual property; establish a proper performance evaluation index for the high-speed, light-load and high-rotational-output application situation; propose the dynamic parameter adjusting method and trajectory planning technique; investigate the design and assurance method for the static and dynamic accuracy. On this basis, a prototype will be developed to carry out the experimental test and engineering application. Integrating the theoretical research and technical application, this project aims at establishing the type synthesis theory, grasping the dynamic performance assurance technique and laying the foundation for the innovation of high-speed robots and engineering application of robot technique in our country.