摘要
提出了一种新型三平移并联机器人机构,运用螺旋理论分析了该机构实现空间三维移动的机构学原理及其自由度,判断了机构的主动副位置;给出了机构位置分析的正、逆解析解,对机构进行了速度、加速度分析并讨论了机构输入-输出运动解耦性。
A new type of three translational parallel robot mechanism was put forward, mechanical principle and freedom of the mechanism which can realize three dimensional translation were analyzed by screw theory, the position of driving pair of the mechanism was judged. The forward and the inverse solutions of the mechanism were analyzed, the velocity and acceleration analysis was carried out, and the kinematics decouplity of the input-output component of the mechanism was discussed.
出处
《机床与液压》
北大核心
2008年第9期17-19,23,共4页
Machine Tool & Hydraulics
基金
山东省自然科学基金资助项目(Y2006G17Y2006F59)
山东省教育厅资助项目(J05C14)
关键词
并联机器人机构
螺旋理论
位置分析
运动学分析
Parallel robot mechanisms
Screw theory
Position analysis
Kinematics analysis
