摘要
混合驱动机械系统是一个多自由度闭环机构。它是界于连杆机构和多自由度并联机器人之间 ,且能够产生可编程运动输出的机械系统。本文从连杆机构学与机器人的理论比较中得到混合驱动机械系统建模的理论依据 。
This paper presents a new concept of hybrid driv e mechanism or programmable mechanism for generating multiple motions. Hybrid d rive mechanisms belong to multiple degree of freedom (M-DOF) mechanical systems .. However, The research belongs to the field between linkage mechanism and robo t ics. We find the theoretical basis for the modelling of hybrid drive machine thr ough comparison of the linkage mechanism and robotics in kinematics and dynamics .. The comparative results establish the means and contents of the research on t h e hybrid drive machine which generates group motions.
出处
《机械科学与技术》
EI
CSCD
北大核心
2001年第6期857-859,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家教育委员会博士点基金项目资助
关键词
机构学
机器人
混合驱动机构
成组运动
Mechanics
Robotics
Hybrid drive mechanism
Mul tiple motions
