摘要
本文以简化动力学方程为目标提出了多自由度平面机构的设计方法。首先在开环机构上增加杆组得到相同自由度的闭环机构，进而设计杆组的质量和质心位置使闭环机构的惯性矩阵为对角阵，达到使动力学方程解耦的目的。该设计思想适用于任意自由度机构。本文从这一思想出发提出一种并行驱动的三自由度平面机构，其惯性矩阵不难设计成常量对角阵。由于这一特性，所提机构可望用于高速机器人。
A design method for manipulators having simple dynamics is presented. First,one or more linkgroups which have zero DOF are added to an open-loop chain to compose a closed-loop chain. Then the massdistribution of the link groups is designed in order to decouple the dynamics of the closed-loop linkage. As aresult,we can design a planar 3 DOF arm with decoupled and constant inertia matrix. Because of its simpleinertia matrix,the arm has good promise for high speed manipulation.
出处
《机器人》
EI
CSCD
北大核心
1994年第1期14-19,共6页
Robot
基金
国家自然科学基金
