摘要
本论文以螺旋理论为基础 ,提出一种系统的结构综合方法 .根据各条支链对运动平台所提供的反螺旋约束的线性关系 ,研究了构成五自由度并联机器人机构的各条支链所有可能的运动副组合以及它们的空间几何条件 .利用这一方法 。
Based on the systematic methodology of reciprocal screws theory, a structure synthesis approach for forming a 5-DOF parallel manipulator is presented. All the possible joints assemble and space geometric relationship for forming an independent link of 5-DOF according to the linear relationship of provided reciprocal screws to platform is studied. As examples, two kinds of typical 5-DOF parallel manipulators are designed with this method.
出处
《机器人》
EI
CSCD
北大核心
2004年第3期241-245,共5页
Robot
