摘要
本文系统地研究了主动副均在机架上的六自由度闭链机器人机构的结构类型与结构特性.综合出了225种不同的结构类型,分析了它们的结构特性:耦合度k、基本运动链的组成及特性.提出了一些具有应用前景的新的结构类型.
The structure types and characteristics of 6 degree of freedom closed chain manipulators with all the actuators on the base are systematically studied in this paper.225 kinds of different structure types are given with their characteristics,such as the coupling degree k,the constitution of basic kinematic chains and their properties.At last some new structure types with potential applications are presented.
出处
《南昌大学学报（工科版）》
CAS
2003年第2期1-9,共9页
Journal of Nanchang University(Engineering & Technology)
基金
国家自然科学基金
教育部高校骨干教师计划
回国留学人员科研启动基金资助项目
关键词
闭链机器人
机械
结构
closed chain manipulator
mechanism
structure
