摘要
根据多维运动模拟的需求,提出了一种弹性欠驱动2-RR(RRPeR)机构。该机构利用两个驱动及弹性动力耦合产生三维运动。基于旋量代数,建立机构的运动学、静力学模型,并以此为基础得到了其方向刚度模型。
According to the demand of the multi-dimensional motion simulation, a class of elastic underactuated 2-RR(RRPeR) mechanism is put forward. Three degrees of freedom of the mechanism is driven by only two drives and the elastic dynamic coupling effects. Based on screws, the kinematics and statics of the mechanism are given, and based on this, the direction stiffness is given.
出处
《电子测试》
2017年第3X期41-41,40,共2页
Electronic Test
基金
河北省高等学校青年拔尖人才计划项目(BJ2016017)
张家口市科技计划自筹经费项目(1621009B)
河北建筑工程学院博士科研启动基金项目(B-201603)
关键词
并联机构
欠驱动
方向刚度
Parallel mechanism
Underactuated
Direction stiffness
