摘要
提出一种由 Stewart平台演绎而来的正交 6 - PSS并联机器人新机型 ,介绍其结构布局特点 ,基于位置反解及其结构约束条件 ,绘制其工作空间的轮廓图 ,并定量分析该并联机器人 RPY角和机构尺寸参数对其工作空间大小的影响 ,为该并联机器人的设计与实用化提供理论依据。
In this paper, the unique design for a novel 6-PSS parallel manipulator with an orthogonal configuration is investigated. This parallel manipulator is a variety of the Stewart platform. The layout feature of the parallel manipulator is described. By using the inverse kinematics equations established and the architecture constraints, the shapes of a constant-orientation workspace are described. The effects of the RPY and design parameters on the workspace volume are studied quantitatively, which can provide theoretical base for the optimal design and application of the parallel manipulator.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第13期1088-1090,共3页
China Mechanical Engineering
基金
燕山大学博士基金资助项目 ( B5 1)
燕山大学科技发展基金资助项目 ( YDJJ0 10 4)
