摘要
基于动平台和定平台之间的矢量关系 ,推导出三杆六自由度并联机器人的运动学逆方程 ,并进一步分析了驱动杆的速度和加速度 。
The inverse kinematic equation of a three-legged six-DOF parallel manipulator was set up based on the relation of vector between the moving platform and base platform.The velocity and acceleration of linear actuator were analyzed.And the computer simulation calculations of kinematics of the mechanism were carried out.
出处
《机床与液压》
北大核心
2004年第8期81-82,116,共3页
Machine Tool & Hydraulics
