摘要
混合驱动机构是一种柔性机械系统,它通过一个定转速主电机和一个可控电机共同驱动一个二自由度机构,这个机构可以实现变规律的运动输出。现从逆运动学角度对其轨迹特性进行探讨,说明混合驱动机构的“逆运动学运动参数条件”和“逆运动学几何约束条件”是影响轨迹输出的主要因素。
Hybrid-drive mechanism is one of the flexible mechanical systems. Combine the motion of a large constant speed motor with a small servomotor by two degrees of freedom mechanism, which can generate non-uniform motions. This paper describes path-properties its according to the analysis of the inverse-kinematics. Afterwards, the results indicate that the properties are affected by the conditions of kinetic parameter and dimension restriction in the inverse-kinematics analysis.
