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包括2个新并联机构和一些反常机构的自由度分析 被引量：4

Mobility analyses of several mechanisms including two novel parallel mechanisms and some “paradoxical” linkages
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摘要 自由度问题是一个已经持续了150年的热点问题。本文目的在于说明如何用简单方便的公式计算那些高度复杂机构的自由度。本文集中分析了一些公认的比较难的现代并联机构和古典“反常”机构。运用以前所知的公式并不能解出这些机构的自由度。 The mobility problem is a hot point lasting about 150 year. The objective of this paper is to demonstrate how to use the simple and uniform formula for quickly analyzing the mobilities of those highly complicated mechanisms. The paper focuses on the mobility analyses of the recognized difficult modern parallel manipulators and classical ＂paradoxical mechanisms＂. They are never solved directly by using known formulas before.
作者 刘婧芳 朱思俊 曾达幸 黄真
机构地区 燕山大学机械工程学院
出处 《燕山大学学报》 CAS 2006年第6期487-494,共8页 Journal of Yanshan University
基金 国家自然科学基金资助项目(No.50275129)
关键词 自由度 反常机构 并联机构 mobility paradoxical mechanism parallel manipulator
分类号 O175 [理学—基础数学]
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参考文献20

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二级参考文献37

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共引文献5

同被引文献53

  • 1ZHANG YiTong & MU DeJun Mechanical Engineering College of Yanshan University,Qinhuangdao 066004,China.New concept and new theory of mobility calculation for multi-loop mechanisms[J].Science China(Technological Sciences),2010,53(6):1598-1604. 被引量：12
  • 2Li Yanwen,Huang Zhen Robotics Research Center,Yanshan University,Qinhuangdao 066004, China.METH0D USED IN SINGULARITY RESEARCH BASED 0N KINEMATICS AND ITS EXAMPLE IN APPLICATION[J].Chinese Journal of Mechanical Engineering,2004,17(2):161-165. 被引量：8
  • 3黄真,夏平.包括Bennett的一些反常机构的自由度分析(英文)[J].燕山大学学报,2006,30(1):1-9. 被引量：6
  • 4Grubler M. Allgemeine eigenschaften der zwanglaiufigen ebenen kinematische kette: I. Civilingenieur, 1883, 29(1): 167--200
  • 5Kutzbach K. Mechanische leitungsverzweigung, ihre gesetze und anwendungen. Maschinenbau, Der Bettrieb, 1929, 8(21): 710--716
  • 6Suh C H, Radcliffe C W. Kinematics and Mechanisms Design (Chapter 5). New York: John Wiley & Sons, 1978
  • 7Hunt K H. Structural kinematics of in-parallel-actuated robot-arms. Trans ASMEJ Mech Aut Des, 1983, 105(11): 705--712
  • 8Cox D, Tesar D. The dynamic model of a three degrees of freedom parallel robotics shoulder module. In: Proceedings of 4th International Conference on Advanced Robotics. Berlin: Springer-Verlag, 1989. 475--487
  • 9Gosselin C M, Angeles J. The optimum kinematic design of a spherical three-DOF parallel manipulator. Trans ASME J Mech Des, 1989, 111 (2): 202--207
  • 10Tsai L W, Walsh G C, Stamper R E. Kinematics of a novel three DOF translational platform. In: Proceedings of IEEE International Conference on Robotics and Automation. Minneapolis: IEEE Press, 1996. 3446--3451

引证文献4

二级引证文献124

燕山大学学报
2006年 第6期

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