摘要
基于以单开链为单元的三维平移并联机构 ,设计构造了一种 3 P⊥R/ / 4r/ /R型三维纯移动的并联机器人机构 ,进行了机构运动确定性分析及运动输出特性分析 ;给出了其位置分析的正、逆解析解 ,讨论了其运动参数的取值范围及实例计算 ,并分析了该机构的输入 输出运动解耦性。该机构仅由转动副组成 ,便于制造安装 ,动力综合性能好 ,为虚轴机床、机器人、虚轴坐标测量机提供了新型实用机型。
A new 3-DOF de-coupled parallel robot mechanism with 3-dimension(3-D) translation is synthesized and investigated according to the structural theory of parallel robotic mechanisms based on the units of the single-open-chain limb. First, mobility analysis and motion output analysis for the parallel mechanism are addressed; then the closed-form analytical solutions are developed for both the forward and inverse kinematics. Numerical calculation and input-output motion relationship are also discussed. The promising parallel mechanism is only composed of revolute joints and easy of manufacturing.
出处
《机械科学与技术》
CSCD
北大核心
2004年第12期1414-1417,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
江苏省自然科学基金项目 (BK2 0 0 14 13 )
国家自然科学基金项目 (5 0 2 75 0 70 )资助
关键词
并联机构
并联机器人
位置分析
单开链
Parallel mechanisms
Parallel robotics
Kinematics analysis
Single-open-chain
