摘要
提出了一种能实现空间三维移动和绕 z轴转动的并联机器人机构模型——空间4- TRT并联机构。文中采用螺旋理论分析了它能实现空间三维移动和绕 z轴转动的机构学原理 ,计算了它的自由度 ;给出了其位置反解的方法 ,推导出了位置正解的封闭方程 ,并进行了数值验证。
A novel model of a 4 DOF parallel manipulator is presented. The degree of freedom and the characteristics of the mechanism model are discussed. The solutions are developed for both the inverse and forward kinematics. The inverse kinematics produces two solutions for each leg of the manipulator. The forward kinematics is reduced to a eighth order polynomial equation. Some numerical examples for the position kinematics are presented finally.
出处
《机械科学与技术》
CSCD
北大核心
2000年第6期927-929,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家八六三计划!( 863 .5 12 .80 5 .980 5 .0 1)
博士点基金 !( 970 2 160 1)
关键词
机器人
并联机构
机构学
位置分析
Manipulator
Parallel mechanism
Position analysis
