摘要
依据平面并联气液动连杆机构的拓扑结构特征,基于相同的序单开链分解线路,建立了与机构拓扑结构相统一的机构位置、速度、加速度分析模型,得到了维数恰等于机构耦合度的平面并联气液动连杆机构位置、速度、加速度方程。以3自由度平面并联气液动连杆机构为例,进行了位置、速度、加速度分析。
The mathematical models of position, velocity and acceleration analysis for planar parallel pneumatic and hydraulic linkage which are unified with the topological structure, are established based on the topological structure characteristics and the same course of ordered single-openedchain decomposition. The position, velocity and acceleration equations of the mechanism are derived. As an example, the kinematics analysis of a 3-DOF planar parallel pneumatic and hydraulic linkage is obtained.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第3期105-108,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(项目编号:50275070)
关键词
并联机构
气液动连杆机构
单开链
运动分析
Parallel mechanism, Pneumatic and hydraulic linkage, Single-opened-chain,Kinematics analysis
