摘要
对一种新型6-PUS并联机构雕刻机进行了研究.在机构型式选定的基础上,以一、二阶影响系数矩阵为依据对机构性能进行了分析,由此可确定出运动学和动力学各项性能指标都较好的机构尺寸,突破了以往仅以一阶影响系数矩阵为依据进行性能分析的局限性,为设计性能优良的雕刻机机构尺寸提供了理论依据.
A novel 6-PUS parallel engraving machine is presented. Based on the selected mechanism type, the mecha-nism performances are analyzed in terms of the first and the second order influence coefficient matrixes. So the sizes of themechanism, which are better for all the performance indexes of both kinematics and dynamics, can be determined and therestriction due to considering only the first order influence coefficient matrix in the past is broken through. Therefore, thetheory basis for designing the mechanism size of novel engraving machine with better performances is provided. Keywords:parallel mechanism; engraving machine; influence coefficient; performance index
出处
《机器人》
EI
CSCD
北大核心
2005年第4期313-318,共6页
Robot
基金
河北省自然科学基金资助项目(F2004000252)
中国科学院机器人学开放研究实验室基金资助项目(RL2002-07)
关键词
并联机构
雕刻机
影响系数
性能指标
parallel mechanism
engraving machine
influence coefficient
performance index
