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3转动1移动并联机器人机构的结构综合 被引量：2

Structure Synthesis of Three Rotational and One Translational-DOF Parallel Robots Mechanisms
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摘要 利用螺旋和反螺旋之间的互易关系,分析了给定机构运动自由度与支链约束之间的关系,提出了基于螺旋理论的4自由度并联机器人机构结构综合的一种方法.据此构造了3转动1移动4自由度并联机器人机构的可能支链类型,列举了多种新型对称机构和非对称机构.所提方法对其它少自由度并联机器人机构的结构综合具有普遍意义. No abstract available
作者 房海蓉 方跃法 胡明
机构地区 北京交通大学机械与电子控制工程学院
出处 《北方交通大学学报》 EI CSCD 北大核心 2004年第4期72-75,83,共5页 Journal of Northern Jiaotong University
基金 国家自然科学基金资助项目(50375001)
关键词 并联机器人 螺旋理论 4自由度 结构综合 parallel robot screw theory 4-DOF structure synthesis
分类号 TH112.1 [机械工程—机械设计及理论]
  • 相关文献

参考文献8

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二级参考文献15

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共引文献97

同被引文献20

  • 1廖启征,李端玲.平面图形放缩机构[J].机械工程学报,2005,41(8):140-143. 被引量：13
  • 2李秦川,武传宇,沈卫平,胡旭东,朱祖超,黄真.新型3-P_CR_NS球面3自由度并联机构[J].机械工程学报,2006,42(11):44-48. 被引量：20
  • 3郭盛,方跃法.并联机器人机构综合方法比较研究[J].北京交通大学学报,2007,31(1):41-45. 被引量：6
  • 4FANG Yuefa, TSAI gongwen. Structural synthesis of 4- DOF and 5-DOF parallel manipulators with identical limbs [J]. The International Journal of Robotics Research, 2002, 21(9): 799-810.
  • 5GAO Feng, Li Weimin. New kinematic structures for 2-, 3-,4-, and 5-D OF parallel manipulator designs[J ]. Mechanism and Machine Theory, 2002, 37:1395 -1411.
  • 6Bruno Monsarrat, Gosselin C M. Workspace analysis and optimal design of a 3-leg 6-I)OF parallel platform mechanism[J]. IEEE, 2003,19(6):954- 966.
  • 7Jung won Yoon, Jeha Ryu. Design, fabrication, and eval- uation of a new haptic device using a parallel mechanism [J]. IEEE, 2001, 6(3) :221 - 233.
  • 8Naohiro Hara, Kazuo Tanaka, Hiroshi Ohtake, et al. Development of a flying robot with pantograph based variable wing mechanism[C]//2007 IEEE International Conference on Robotics and Automation. Roma, 2007 IEEE, 2007: 349 - 354.
  • 9Grigore Gogu. Fully-isotropic parallel manipulators with schonflies motions and complex legs with rhombus loops [C] //Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Orlando, Florida, 2006:1147 1152.
  • 10Sebastien Briot, Vigen Araketian, Sylvain Guegan. Design and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator with highdoad carrying capacity[J]. Journal of Mechanical Design, ASME, 2008, 130- 122303(1) 122303(7).

引证文献2

二级引证文献8

北方交通大学学报
2004年 第4期

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