主要规格及技术指标

数量：2台
1）主要技术规格如下：
尺寸(mm )：1000x1000x1600
工作范围(圆柱体)：r=200mm
负载(kg,包含工具)：4 (40N)
轴范围：-25°到 +120°
框架材料：铝型材
并行手臂材料：碳素管
编码器：Resolver (relative)
2）须有必要的保护机制，如急停；整机，包括电控和机械部分，需置于保护外壳内，因装置工作时机械部分涉及高速（>1 m/s maximum），以及电控部分为高压（220V）。故装置运行时须避免实验人员触碰。
3）电控系统：建议使用贝加莱产品
4）驱动电机，使用交流伺服电机
5）抓手建议使用电磁吸盘或者真空吸盘

Quantity: 2 units
1) The main technical specifications are as follows:
Size (mm): 1000x1000x1600
Working range (cylinder): r=200mm
Load (kg, including tools): 4 (40N)
Axis range: -25° to +120°
Frame material: aluminum profile
Parallel arm material: carbon tube
Encoder: Resolver (relative)
2) Necessary protection mechanisms must be provided, such as emergency stop; the entire machine, including the electronic control and mechanical parts, must be placed in a protective casing, because the mechanical part of the device involves high speed (>1 m/s maximum) when working, and the electronic control part is high voltage (220V). Therefore, the experimenter must avoid touching the device when it is running.
3) Electronic control system: B&R products are recommended
4) Drive motor: AC servo motor is recommended
5) Grippers are recommended to use electromagnetic suction cups or vacuum suction cups

主要功能及特色

Tripod机器人是由贝加莱工业自动化有限公司和奥地利HTL Wels大学共同设计的四轴并行机器人（Parallel Robot）。它有三个机械手臂，在三台相同电机的配合控制下，使得工具中心（TCP, Tool Center Point）在X，Y，Z工作空间中进行平移运动，并通过一个步进电机使得TCP可以进行Z方向的旋转。
Tripod机器人通过贝加莱设备进行驱动。使用的设备主要有电机、减速器、ACOPOS伺服驱动器，X20系列控制器与开关电源等。Tripod 的软件控制程序可使用 Automation Studio 软件进行开发，贝加莱公司为 2014 年学界联盟大赛开发了控制程序，该控制程序可以完成Tripod 机器人的移动动作、VNC 界面控制、视觉控制、磁铁操作的 Pick&Place 任务等。
Tripod是一种并行机器人，主要依据Reymond Clevel（瑞士）1991年提出的机器人概念而制造的。Tripod主要分为三部分：
1） 基地，包含着关节电机与其它重零件
2） 轻巧工具平台，一般附带Z-轴旋转自由度
3） 轻巧连接体，使得基地与工具平台相连
并行运动（Parallel Kinematics）是通过三双碳素并行管实现的。它用来封锁所有工具平台的旋转自由度，让Tripod的运动限制到纯粹的平移运动。通过尽量减少移动部件的重量（工具平台与连接体），Tripod能够实现高动态与快动作，非常适合小负载码垛工作。所以Tripod也经常被称呼为码垛机器人。
Tripod 机器人常用于 3D 打印机，包装和医药行业，并且由于它的清洁度高，在食品与医疗行业也得到广泛应用。
贝加莱 Tripod 机器人可以作为一个实验平台供学生使用。它分为两个部分：上面是机械与电机部分，下面是电气部分。整个机器人固定安装在特制电气柜中，布局简单实用，方便用户学习使用。电气柜是铝制框架，有安全门等特殊设计，可以防止机器人碰到外界物体。
贝加莱 Tripod 机器人基地包含着三台相同的贝加莱电机，都安装在一座钢体附件中。电机上连着三只铝铜合金内臂，外臂使用碳素管，通过易于安装的球接头根内臂与工具平台连接。工具平台上安装着一台步进电机，实现工具平台的选装自由度。电机上的刀架可通过 M6 螺纹安装用户定义的工具。本台机器人自带一个磁铁，用来吸起铁质元件。本实验台用于机器人快速抓取，分拣等相关实验。

Tripod robot is a four-axis parallel robot designed by B&R Industrial Automation Co., Ltd. and HTL Wels University, Austria. It has three mechanical arms. Under the control of three identical motors, the tool center (TCP, Tool Center Point) can move in translation in the X, Y, and Z workspaces, and a stepper motor can rotate TCP in the Z direction.
Tripod robot is driven by B&R equipment. The equipment used mainly includes motor, reducer, ACOPOS servo drive, X20 series controller and switching power supply. Tripod software control program can be developed using Automation Studio software. B&R developed a control program for the 2014 Academic Alliance Competition. The control program can complete the movement of Tripod robot, VNC interface control, visual control, magnet operation Pick&Place tasks, etc.
Tripod is a parallel robot based on the robot concept proposed by Reymond Clevel (Switzerland) in 1991. Tripod is mainly divided into three parts:
1) Base, which contains joint motors and other heavy parts
2) Lightweight tool platform, usually with Z-axis rotational freedom
3) Lightweight connector, which connects the base to the tool platform
Parallel kinematics is achieved by three pairs of carbon parallel tubes. It is used to block the rotational freedom of all tool platforms and limit the movement of Tripod to pure translation. By minimizing the weight of moving parts (tool platform and connector), Tripod can achieve high dynamics and fast movements, which is very suitable for small load palletizing. Therefore, Tripod is often called a palletizing robot.
Tripod robots are commonly used in 3D printers, packaging and pharmaceutical industries, and due to its high cleanliness, they are also widely used in the food and medical industries.
B&R Tripod robot can be used as an experimental platform for students. It is divided into two parts: the mechanical and motor part on the top and the electrical part on the bottom. The entire robot is fixedly installed in a special electrical cabinet with a simple and practical layout, which is convenient for users to learn and use. The electrical cabinet is an aluminum frame with special designs such as safety doors to prevent the robot from touching external objects.
The B&R Tripod robot base contains three identical B&R motors, all installed in a steel body attachment. The motor is connected to three aluminum-copper alloy inner arms, and the outer arms use carbon tubes, which are connected to the tool platform through easy-to-install ball joints. A stepper motor is installed on the tool platform to achieve the optional freedom of the tool platform. The tool holder on the motor can be installed with user-defined tools through M6 threads. This robot comes with a magnet to attract iron components. This experimental table is used for robot fast grasping, sorting and other related experiments.

主要附件及配置

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