摘要
本文结合人造筋肌的应用提出了一种新型并联手腕机构，它具有结构简单、紧凑、输出位置精度高等优点．文章简要地介绍了人造筋肌的性质，绘出了用人造筋肌驱动的布置形式，建立了该机构的运动学方程，得到了其运动学逆问题的封闭解以及运动学正问题的半封闭解，然后用数值解法求解．最后，给出了一个数值算例．
In order to apply artifcial muscle base on polymer hydrogel in new development, a novel parallelwrist mechanism is presented in this paper.This wrist mechanism possesses high position accuracy of the output controlled link. The kinematic equations are given and obtained in closedform of reverse displacement problem and reduced forward displacement problem to solve a nonlinear equation, which solution is gained using numerical method. The new theoretical result is confirmed by a numerical examples.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
1997年第S1期117-121,共5页
Journal of Shanghai University:Natural Science Edition
基金
863资助
关键词
人造筋肌
并联手腕机构
运动学分析
artifcial muscle, parallelwrist mechanism, kinematic analysis
