摘要
提出了一种新型4-RPTR并联机器人机构,该机构能实现空间的三维移动和绕Z轴的转动,是一种很有应用前景的机构。首先分析了机构的自由度,建立了机构的数学模型,运用连续法计算了机构位置正解,给出了数值算例并绘制了对应的三维机构装配简图。
This paper presents a new kind of 4-RPTR parallel manipulator, which has four DOF of the three-dimensional translation and the revolution around Z spindle, the manipulator has good application prospect. The DOF of the manipulator was analyzed firstly, then the restrict-ire equation was established; calculating the position forward kinematics of the manipulator with continuation method, the numerical value solutions of specific position were given, and also the corresponding three-dimensional mechanical assembling sketch was drawn.
出处
《机械设计与研究》
CSCD
北大核心
2006年第4期21-23,24,共4页
Machine Design And Research
基金
河北省自然科学基金资助项目(E2004000230)
关键词
4自由度
并联机构
连续法
位置正解
4-DOF
parallel mechanism
continuation method
position forward kinematics
