摘要
设计构造了 3 -P/ /R⊥ 4r⊥R型三维纯移动的并联机器人机构 ,进行了机构运动输出特性分析及自由度计算 ;给出了其位置分析的正、逆解析解 ,讨论了其运动参数的取值范围 ,并分析了该机构的输入 -输出运动解耦性。
This paper is one of the research achievement for the model of parallel mechanism with 3D translations. It designed and constructed the 3-P//R//4R//R typed parallel robotic mechanism with 3D pure translation, and carried out the motion output characteristics analysis of the mechanism and the motion determinacy analysis, and presented the forward and inverse analytic solution on its positional analysis, and discussed the range of value adoption of its motion parameters and the computation of living examples, and analyzed the decoupling of input-output motion of this mechanism. This mechanism provided a new typed practical model for industrial machinery and executor with three translations.
出处
《机械设计》
CSCD
北大核心
2004年第11期13-15,共3页
Journal of Machine Design
基金
江苏省自然科学基金项目 (BK2 0 0 1 4 1 3)
国家自然科学基金项目 (50 2 750 70
50 3750 67)
关键词
并联机构
并联机器人
位置分析
单开链
parallel mechanism
parallel robot
positional analysis
single-opened chain
