摘要
对一类新型六自由度并联机器人机构的结构组成及其结构特性(包括机构运动自由度计算、运动输出特性、运动学与动力学复杂性、输入-输出运动控制解耦性、驱动器可配置性等)进行了详细的分析,为其运动学和动力学分析、机械结构设计及其在虚拟轴机床、坐标测量机、娱乐运动平台和机器人等并联运动装备中的潜在应用打下基础。
This paper analyzed the structure and their characteristics of a class of six-DOF parallel mechanisms. In details, the analyses included the calculation of mechanism DOF, motion output characteristic analysis, complexity of kinematics and dynamics, coupling analysis between input and output, actuator choice. They can provide scientific foundations for the kinematics and dynamics analyses and mechanical structure design as well as their potential applications on virtual axis machine tools, coordinate measure machine （CMM）, parallel entertainment platform and robots.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第6期721-724,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50275070)
关键词
并联机器人
机型设计
混合链
结构分析
parallel robot
topological structure design
hybrid chain
structure analysis
