摘要
基于广义等效KP旋量系设计了一种新型3支链6自由度并联机构3-PRRS,机构采用PR驱动方式。介绍了机构的设计过程,分析了机构的输入合理性,求取了机构的位置反解,并通过仿真验证了机构设计的正确性和有效性。
A new 6-DOF parallel mechanism 3-PRRS was designed based on generalized equivalent KP screw system. The driv- ing mode was PR. The design process was introduced, inputs rationalities was analyzed and inverse position kinematics solutions were gotten. The correctness and validity of this design method was proved by simulation analysis.
出处
《机床与液压》
北大核心
2012年第15期105-110,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(50905077)
山东省自然科学基金项目(Y2006F59
Y2006G17)
关键词
并联机构
广义等效KP旋量系
PR驱动
Parallel mechanism
Generalized equivalent KP screw system
PR drive
