摘要
提出了一种新型的三自由度RPR球面串联机构,并对该机构的运动学与工作空间问题进行了分析。通过D-H坐标变换建立了机构的位置方程,求出了位置正反解表达式,并给出了位置反解的数值实例。运用蒙特卡洛法对机构的工作空间进行了分析,给出了二维和三维形式的机构工作空间图。
A novel 3-DOF RPR serial spherical mechanism was proposed herein for orientation operation on a spherical surface. The kinematic analysis and workspace of the proposed mechanism was also investigated. After setting up D- H coordinate system on the mechanism, the forward and inverse position solutions of the mechanism were explored. A numerical example of inverse solution was presented. Furthermore, the workspace of the mechanism was investigated with Monte Carlo method. The workspace maps of the mechanism were presented in two--dimension and three-dimension respectively.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第20期2403-2406,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50975186)
关键词
串联球面机构
三自由度
位置分析
工作空间
serial spherical mechanism
three degree of freedom （3 -- DOF）
position solution
workspace
