摘要
分析了含有三个移动副和全为转动副的三自由度平面并联机构 ,当机构的结构参数对称时 ,其正解的个数为两个 ,并推导出该特殊结构尺度条件下机构的正解。进一步给出了算例。
When the structure of a planar parallel mechanism with three degrees of freedom(DOF) is symmetrical, it has two direct solutions. In this paper the direct solutions of this mechanism with three sliding or revolute pairs are analyzed, and an example is given.
出处
《机械科学与技术》
CSCD
北大核心
2003年第6期977-979,共3页
Mechanical Science and Technology for Aerospace Engineering
关键词
并联
三自由度
正解
Parallel mechanisms
Three degrees of freedoms
Direct solutions
