摘要
根据空间机构学理论,通过地理坐标系的建立,联系稳定平台的位姿与运动载体,推导出在非稳定条件下的3-RPS并联机构上平台法向量与杆长之间的运算关系式,得到了机构的逆解方程;分析了速度和加速度特性,绘出了机构工作空间运动轨迹的曲线和曲面,结果显示:杆长值的时间函数曲线和机构的工作空间曲面平滑,机构在运行时无奇异位型。
The 3-RPS parallel mechanism under unsteady conditions was studied. By establishing geographical coordinate systems and connecting the position of the stabilized platform with the motive vector, operational formulas between normal vectors in upper and rod length were deduced, and the inverse solution derived. The character of velocity and acceleration was analyzed and the trajectory of work space plotted. Analysis indicates the time function of the rod length and the surface of the work space＇s trajectory are smooth, and no singular position has been found.
出处
《重庆大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2008年第9期982-987,共6页
Journal of Chongqing University
基金
新世纪优秀人才支持计划资助项目(NCET-04-0842)
关键词
并行处理系统
机构学
机器人
卫星通信系统
parallel processing systems
mechanisms
robotics
satellite communication system
