摘要
设计了一种助力机器人结构并把该机构简化为一个3)URS机构,该机构可以实现动、定两平台的相对平行运动。根据修正的Grbler)Kutzbach公式计算出并联机构的自由度为6。在进行机构奇异性分析时,将该机构模型简化为一个含有两个动平台的机构,推导出了机构的运动学雅克比矩阵;分析了该机构的奇异位形,指出了机构处于奇异位形时的条件。
A mechanism of power assist robot is designed and regarded as a 3 - URS parallel mechanism, which the movable platform could be moved parallel to the fixed platform. The freedom of the mechanism is calculated with the amended formula of Grbler- Kutzbach,so that the freedom is six. When the singularity of the mechanism is analyzed, it is considered to be a mechanism with two movable platforms. The J - matrix of the mechanism is deduced. At the same time, the singularity is analyzed by the J - matrix of the mechanism, and the condition of the singularity is got.
出处
《机械传动》
CSCD
北大核心
2013年第10期82-85,114,共5页
Journal of Mechanical Transmission
基金
陕西省教育厅基金(12JK0750)
关键词
奇异位形
位置分析
自由度
并联机构
Singularity Position analysis Degree of freedom Parallel mechanism
