摘要
提出一种新型3-RRRS并联机构,进行了机构自由度、位置正反解、工作空间和灵活度研究。根据运动学逆解原理,建立了机构的位置反解方程,并利用参数代换建立了正解方程组。初步确定了机构作业空间的约束条件;同时求出了反映机构输入输出映射关系的雅可比矩阵。
A novel parallel mechanism named 3-RRRS was proposed, a research of freedoms, workspace and forward inverse solutions to positions of this mechanism was made. According to the principle of kinematics inverse solustion, equations of forward inverse solutions to positions were established using parameter substitutions. Restriction terms of workspace were established elementa- rily. Jacobi matrixes reflecting the relatiens between inputs and outputs were aquired.
出处
《机床与液压》
北大核心
2007年第12期33-35,38,共4页
Machine Tool & Hydraulics
关键词
位置正反解
空间分析
雅可比矩阵
Position fordward inverse solutions
Workspace analysis
Jacobi matrix
