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并联柔索牵引机构的运动学分析 被引量：14

Kinematic Analysis of Wire-Driven Parallel Manipulator
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摘要 提出了并联机构CRPM(Completely Restrained Position Mechanisms)正解的三棱锥法,确定了正解的数目,给出了其解析形式,并以反解为已知通过实例验证。采用Mathematica符号计算软件提高了推导并联机构CRPM解析解的效率。 This paper presents three pyramid method of forward kinematics for parallel manipulator CRPM （Completely Restrained Position Mecbanism）, determines the number of the forward kinematics, gives the analytic form and verifies the proposed method by example based on inverse kinematics. The efficiency of deriving the analytical solution of parallel manipulator is increased by the software of Mathematica.
作者 汪选要 曹毅 黄真
机构地区 安徽理工大学机械工程系 江南大学机械工程学院 燕山大学机器人研究中心
出处 《机械设计与研究》 CSCD 北大核心 2007年第3期46-48,共3页 Machine Design And Research
关键词 并联机构CRPM 正解 三棱锥法 parallel manipulator CRPM forward kinematics three pyramid method
分类号 TH112 [机械工程—机械设计及理论]
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参考文献2

二级参考文献30

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共引文献58

同被引文献156

引证文献14

二级引证文献54

机械设计与研究
2007年 第3期

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