摘要
2-RPU/UPR是一种具有两转一移(2R1T)的并联机构,首先对该机构的组成进行了介绍,然后基于螺旋理论建立2-RPU/UPR并联机构的初始位形,并对其自由度进行了分析;根据动平台绕两条连续转动轴线转动的角度,采用旋转变换公式得到了动平台的位姿,由机构支链的约束条件,求解得出了并联机构的位置反解;又由空间的坐标向量关系及性质系再次推导出了该并联机构的位置反解。该机构结构简单、关节数目少的特点,易于标定和控制,故具较好的应用前景。
2-RPU/UPR is a kind of parallel mechanism, which has a translational degree of freedom （DOF） and two rotational DOFS. Firstly, the composition of this mechanism is introduced, and then the initial configuration of the parallel mechanism is set up based on the screw theory, and the DOFs is analyzed; the position of the moving platform is got by using the rotating transform formula, which needs the angles of the moving platform around the two continuous rotation axis. According to the length coustraint conditions of the parallel mechanism, the inverse position is solved; the inverse position also can be got through the relationship and property of the spatial coordinates vector. The structure of this parallel mechanism is simple, and this parallel mechanism, s joints are less relative to the others, and it is easy to calibrate and control, so it has good application prospect.
出处
《机械设计与制造》
北大核心
2014年第12期53-56,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51275439)
国家重点基础研究发展计划(973计划)资助项目(2013CB73300)
关键词
并联机构
螺旋理论
自由度
位置反解
Parallel Mechanism
Screw Theory
Degree of Freedom
Inverse Position
