摘要
设计了一种新型的解耦3自由度一平移二转动并联机构,给出了其位置分析的正、逆解析解,分析了该机构的输入-输出运动解耦性,用MATLAB软件编程搜索工作空间的边界曲线,得到了机构的工作空间图,为该机构的机械结构设计和运动轨迹实时控制奠定了基础。
In this paper,a novel decoupling 3-DOF （one-translation and two rotation） parallel mechanism is designed,and the both the forward and inverse solutions for its position analysis is also given. The analysis on input-output movement decoupling of this mechanism is carried out. Its operating space diagram was obtained by using the MATLAB software to search the boundary curve of the working space. This has laid a solid foundation for mechanical structure design and real-time track control of this mechanism.
出处
《机械设计》
CSCD
北大核心
2010年第7期4-6,共3页
Journal of Machine Design
关键词
并联机构
运动分析
工作空间
parallel mechanisms
kinematics analysis
working space
