摘要
基于单开链单元的欠秩并联机器人机构型综合方法的理论,对二平移三转动并联机器人机构进行了型综合及分类,得到几十种机构.提出的二平移三转动并联机器人机构型综合方法具有普遍意义,并已用于其他运动输出类型的欠秩并联机器人机构的型综合.
Based on the theory about structural synthesis and classification of degenerate-rank parallel robot mechanism with single-opened-chain limb, structural synthesis and classification of two translation and three rotation robot mechanism are conducted and tens of mechanisms are achieved. The method proposed has general significance and has been successfully applied in the structural synthesis of degenerate-rank parallel robot mechanisms with other kinematics output types.
出处
《工程设计学报》
CSCD
北大核心
2005年第2期75-79,共5页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(50375067).
关键词
型综合
并联机构
单开链支路
欠秩
structural synthesis
parallel mechanisms
single-opened-chain limb
degenerate-rank
