摘要
提出了一种具有3个转动自由度的并联机器人机构,介绍了它的结构和特点,建立了该机器人机构的运动学位姿、速度及加速度的正反解方程,并进行了数值实例验证,为该机器人机构的进一步分析研究和开发奠定了理论基础。
A novel 3-DOF parallel manipulator with only rotational degrees of freedom is presented in this paper. Its structure and characteristc are introduced. Closed-form solutions for both forward and inverse kinematics problems, such as displacement, velocities and accelerations are developed, which provide basis for analyzing and realizing the manipulator theoretically.
出处
《舰船科学技术》
北大核心
2007年第1期44-47,共4页
Ship Science and Technology
关键词
并联机器人
运动学
住姿
速度
加速度
parallel manipulator
kinematics
position posture
velocity
acceleration
