摘要
提出了一种新型2-DOF串并混联机械臂,该机械臂具有串联机构工作空间大和并联机构承载能力高的优点,可以实现较大活动空间内对重物的搬运仓储。在自由度分析的基础上,对这种机械臂进行了运动学性能分析。基于几何解析法分析了该机构的运动学正反解,并且给出了5组正反解分析数值算例,验证了正反解分析的正确性。
A new type of two degree of freedom （2-DOF） serial and parallel hybrid manipulator was presented. It could transport heavy loads within a large space in storage warehouse, which contained the advantages of series mechanism with large workespace and parallel with high load carrying capacity. The DOF of the manipulator were analyzed to carry out its kimematic analysis. Geometric ana- lytical method was based on to analyze the forward and inverse kinematics of the mechanism, and to give five groups analyzed the nu- merical examples of forward and inverse kinematics. The correctness of the analysis is verified.
出处
《机床与液压》
北大核心
2017年第3期58-61,共4页
Machine Tool & Hydraulics
基金
广西科技大学校级科学基金项目(校科自1419207)
广西省教育厅一般项目(YB201420)
关键词
机械臂
位置分析
运动学分析
数值算例
Manipulator
Position analysis
Kinematic analysis
Numerical example
