文档介绍：食品包装机械手3—RRRU机构运动构造
摘要
随着科技的进步，人类希望从高劳度强度的工作中解放出来，诞生了机器人这一新兴科技，而工业机器人的发展大大减轻了人类的劳动力。在食品、医药和电子等行业中产生了各种机器人，这些机器人不仅减轻了劳动强度，还避免了产生不同的污染，由于这种特性，机器人快速的取代了高强度的人工操作。
在食品包装行业中机械手的发展日趋自动化，串联机械手和并联机械手在该行业得到广泛应用，串联机器人研究得较为成熟，具有结构简单，成本低，控制简单，运动空间大等优点，已成功应用于很多领域，如各种机床，装配车间等。并联机器人的研究与串联机器人相比起步较晚，还有很多理论问题没有解决。但由于并联机器人具有刚度大，承载能力强，精度高，末端件惯性小等优点，在高速，大承载能力的场合，与串联机器人相比具有明显优势。已有很多成功应用的案例。比如运动模拟器，delta机器人等。基于这种情况，高效率、高速度的并联机械手的设计就引起了广泛关注。
关键词：机器人；机械手；工业
3 - RRRT food packaging manipulator mechanism motion structure

Abstract

With the progress of science and technology, human hope liberated from high labor intensity of the work, the birth of this new technology, the robot and the development of industrial robots greatly reduce the labor of mankind. In food, medicine and electronic industries produced all kinds of robot, the robot not only reduce the labor intensity and also avoid the pollution of produce different, due to the characteristics of the robot quickly replacing the high intensity of manual operation.
In the food packaging industry in the development of the manipulator has become increasingly automated, series manipulator and parallel manipulator is widely applied in the industry, serial robot research are more mature, it has a simple structure, low cost, simple control, movement space is large, etc, have been successfully applied in many fields, such as all kinds of machine tools, assembly workshop and so on. Parallel robot research compared with serial robots started late, many theoretical problems unresolved. But because the parallel robot has big stiffness, strong carrying capacity, high precision, at the end of the advantages of small pieces of inertia, at high speed, large capacity, has obvious advantages compared with serial robots. There are many successful application cases. Such as motion simulator, delta robot, etc. Based on this situation, t