摘要
基于并联机构拓扑解耦准则 ,构造了一种新型四自由度并联机器人机构 (三平移一转动 ) ,并对该机构进行解耦性分析和运动学分析 ;其变元的解都可用解析式表示 ,这为控制带来方便。
Based on the topological decoupled principle for general parallel manipulator,the paper proposed a new kind decoupled parallel manipulator with four freedoms (3 translations-1 rotation). Also the kinematic analysis and decoupled properties of the mechanism were analyzed. The synthesis method based on the topological decoupled principle is significant for parallel mechanism design and synthesis.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第12期1035-1037,1041,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目 (5 0 2 0 75 0 70 )
关键词
并联机构
解耦
基本运动链(BKC)
运动学正解
parallel manipulator
decoupling property
basic kinematic chain (BKC)
kinematics forward analysis
