摘要
根据并联机器人机构结构综合理论,以单开链支路为单元,提出了一种能实现空间二维移动和一维转动的三自由度并联机构。分析了该机构的运动特性和运动学正反解,得到了该机构的奇异位形。该机构在结构上具有较好的对称性和解耦性。
Based on the units of single- opened- chain limb, a new type 3- DOF parallel manipulator for realizing 2 translations-1 rotation was put forward according to theories of the structure type synthesis of parallel kinematics mechanism. Its kinetic properties and the inverse and forward kinematics were analyzed,and the singular configuration was obtained. Because there is a semi -symmetrical property in the mechanism,and its decoupled properties are good, there may be better application prospects. At the same time, its positional inverse resolution model is very simple, which lays a satisfactory foundation for the further study of its kinematics and dynamics and optimal design, and provides a theoretical base for the system control of this mechanism.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第11期1340-1342,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375067)
高等学校博士学科点专项科研基金资助项目(20050299002)
浙江省自然科学基金资助项目(Y104347)
关键词
并联机构
单开链
运动学
奇异位形
parallel manipulator
single- opened- chain
kinematics
singular configuration
