摘要
简要介绍螺旋理论在并联机构自由度计算与运动特性分析中的应用,探讨反螺旋作为机构约束在并联机构自由度计算公式中所起到的作用,从而得出该公式的修正模型。用这种方法分析一种新型3-5R,1-SPS四自由度并联机器人机构的运动特性,并在ADAMS软件中验证机构的自由度数。
This paper inducates applications of screw theory to the freedom count and kinematics attribute analyses for parallel manipulator, and studies the function of reverse screw as mechanism constrain for parallel manpulator in the freedom count formula so as to find a new method and its revised model. A new type of four DOF parallel manipuahor is analyzed on freedom by means of the above-mentioned method and theory, and its DOF is verified by the software ADAMS.
出处
《机械设计与研究》
CSCD
北大核心
2005年第4期39-42,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(50375067)浙江省自然科学基金资助项目(Y104347)
关键词
并联机器人机构
自由度
螺旋理论
反螺旋
parallel manipulator, degrees of freedom（dof）, screw theory
reverse screw
