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约束综合法及新型4、5自由度对称并联机构 被引量：7

Novel 4-and 5-DOF Symmetrical Parallel Mechanisms Synthesized by Constraint-Synthesis Method
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摘要 少自由度并联机器人的研究和应用近年来吸引了各国研究者的广泛注意.本文简要介绍了我们提出的基于螺旋理论的少自由度并联机构的约束综合法,并列举了以约束综合法得到的新型4和5自由度对称并联机构.
作者 HuangZhen LiQinchuan
出处 《燕山大学学报》 CAS 2003年第1期1-7,共7页 Journal of Yanshan University
基金 国家自然科学基金
关键词 约束综合法 对称并联机构 并联机器人 型综合 螺旋理论
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TH112
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参考文献17

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  • 2Huang Z, Li Q C. General methodology for type synthesis of lowermobilitysymmetrical parallel manipulators and several novel manipulators.InternationalJournalofRoboticsResearch, 2002, 21(2): 131-146
  • 3Huang Z, Li Q C. Some novel lower-mobility parallel mechanisms.In:ProcofASMEDETC/CIEConference, MECH-34299, Montral, Canada, 2002
  • 4Huang Z, Li Q C. On the type synthesis of lower-mobility parallel manipulators. In:Proc of the workshop on fundamental issues and future research directions for parallelmechanisms and manipulators, Quebec, Canada, 2002, 272-283
  • 5Dimiter Zlatanov, Clement M Gosselin. A new parallel architecture with four degreesof freedom. In: Proc of the 2nd workshop on Computational Kinematics, Seoul, Korea, 2001,57-66
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同被引文献17

  • 1李立,陈永.并联型机器人动力学建模的符号－数字方法[J].机械工程学报,1994,30(3):77-84. 被引量：12
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  • 7Choi H B, Company O ,Pierrot F,et al. Design and control of a novel 4-DOFs parallel robot H4[A]. Proceedings of the 2003 IEEE International Conference on Robotics & Automation[C]. Taibei, 2003.1185-1190.
  • 8Wolf A, Ottaviano E , Shoham M, et al. Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF CaPaMan parallel manipulator[J]. Mechanism and Machine Theory, 2004,39(1):75-95.
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  • 10胡明,郭成,蔡光起,戴炬.一种三自由度并联机器人机构运动学计算[J].东北大学学报（自然科学版）,1998,19(4):411-414. 被引量：29

引证文献7

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燕山大学学报
2003年 第1期

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