摘要
以2-RRU&RSR并联机构为研究对象,通过矢量方程法对机构进行位置逆解研究,得到相应的运动学方程。利用螺旋理论建立机构的雅可比矩阵,并通过对机构支链输出传动效率指数的定义对机构的运动学传动性能进行研究。
A novel over-constrained 2-RRU＆RSR parallel mechanism was proposed and analyzed. By vector method, the explicit equation of the inverse was gotten. Then, the overall Jacobin matrix of the parallel manipulator was established based on screw theory. Finally, the kinematic transmission performance of the mechanism was analyzed by defining transmission efficiency coefficient between limbs and some conclusions were given.
作者
张超
李彬
ZHANG Chao;LI Bin(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education（Tianjin University of Technology）,Tianjin 300384,China)
出处
《机床与液压》
北大核心
2018年第21期65-69,共5页
Machine Tool & Hydraulics
