摘要
GF集是对机构末端运动特征进行描述的集合。首先介绍GF集的基本概念,而后提出基于GF集的并联机器人机构末端运动特征分析方法。给出利用该方法进行机构末端特征分析的步骤,最后分析了4-UPU并联机器人机构,验证了该方法的正确性和有效性。
A GFset is utilized to describe the kinematic characteristics of an end-effector of a parallel mechanism. The basic concept of GF set is first introduced. A novel method is then proposed for the analysis of the kinematic characteristics of parallel mechanisms. A general procedure is described for the analysis method in sequence. As an application of the above method, the 4-UPU parallel mechanism is analyzed, and the efficiency and correctness of the method is verified.
出处
《机械设计与研究》
CSCD
北大核心
2008年第5期22-24,共3页
Machine Design And Research
基金
国家重点基础研究发展规划973资助项目(2006CB705400)
国家自然科学基金重点资助项目(60534020)
航空科学基金资助项目(20060157001)
关键词
并联机构
末端运动特征
GF集
parallel mechanism
kinematic characteristics of end-effeetors
GF set
