摘要
介绍了一种具有线线角度和点点距离约束的新型并联机构——角度约束并联机构(2CCC-4SPS),对自由度和运动学正解进行了研究;通过Sylvester结式及Groebner基的原理导出了位置正解输入输出方程,得出32组位置正解,并使用数值算例验证了其全部解.
A new parallel mechanism 2CCC-4SPS that has distance and angle constraints was described. The analysis of degree of freedom and forward kinematics were given. Sylvester＇s resultant and Groebner basis theory were used and the problem of forward kinematics analysis was reduced to a 32nd degree polynomial equation in a single unknown, from which 32 different locations of the platform can be derived, numerical example confirms these theoretical results.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2007年第6期32-35,共4页
Journal of Beijing University of Posts and Telecommunications
基金
国家"973计划"项目(2004CB318000)
国家自然科学基金项目(50475161)
教育部科学技术研究重点项目(104043)
高等学校博士学科点专项科研基金项目(20050013006)
