摘要
根据并联机器人机构结构综合理论,提出了一种新型的能实现三维纯平移的空间3-P⊥R⊥4 r⊥R三自由度正交并联机器人机构。该机构通过动平台和定平台的3个全部由转动副和移动副构成的约束支链连接,使定平台上3个直线移动驱动副的轴线两两互相垂直。根据杆长约束条件,推导了完全封闭形式的位置正、反解。分析结果为该机构的设计及实用化提供了理论依据。
According to the synthetic theory of parallel robotic mechanism structure, a kind of new typed orthogonal parallel robotic mechanism with spatial 3-three degree of freedom that could real- ize 3D pure translation was put forward. By means of the constraint branch chain linkage constituted entirely by 3 turning pairs and translation pairs, the moving platform and stationary platform of this mechanism made the axes of 3 linear moving drive pairs on the stationary platform be mutually perpendicular in pairs with each other. The complete close typed formulae of positional normal and inverse solutions were derived according to the constraint condition of rod length. The result of analysis provided theoretical basis for the design and practical applicability of this mechanism.
出处
《机械设计》
CSCD
北大核心
2008年第8期45-47,共3页
Journal of Machine Design
基金
四川省高等教育教学改革工程人才培养质量和教学改革资助项目(06-511-254)
关键词
正交并联机构
结构分析
位置分析
orthogonal parallel mechanism
structural analy-sis
positional analysis
