摘要
基于单开链结构原理和拓扑结构控制解耦准则,提出了一类新型三平移并联机器人机构,该机构能够实现拓扑控制完全解耦,从而显著简化其控制问题。另外,对该机构进行了必要的结构分析和位置分析,为该类新型机器人机构的推广应用了奠定基础。
Based on the topological decoupled principle and viewpoint of single opened chains,a class of novel three-translation parallel manipulators have been presented.And the topological structure of this new mechanism is fully decoupled,which have some advantages of easily control,simple kinematics analysis,and so on..Then structural and kinematic analysis have been completed.The research provides theoretical basis for design and practical applicability of this novel mechanism.
出处
《机械设计与制造》
北大核心
2010年第8期178-180,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目(50875261)
江西省教育厅项目(GJJ09426)
关键词
并联机构
解耦
构型设计
单开链
Parallel manipulator
Decouple
Configuration design
Single opened chain
