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3—RRR平面并联机器人的灵活工作空间 被引量：14

On the dexterous workspace of 3—RRR planar parallel manipulator
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摘要 通过对3—RRR平面并联机器人分支运动链子工作空间的分析,提出了由定姿态工作空间求解各种灵活度要求下工作空间的方法,对机器人的工作空间和灵活性问题进行了系统研究,并探讨了机器人几何参数和子工作空间内空洞对机器人灵活性的影响. Systematic study on the dexterous workspace of 3-RRR planar parallel manipulator has been made on base of analysis of the sub-workspaces of branch kinematic chains. A method is set up to calculate the workspace on different dexterous requirement in the light of the workspace under fixed orientation, The influences on the dexterity of geometric parameters as well as hole inside the sub- workspace are also discussed.
作者 崔建昆
机构地区 上海理工大学机械工程学院
出处 《上海理工大学学报》 EI CAS 北大核心 2005年第4期365-368,372,共5页 Journal of University of Shanghai For Science and Technology
关键词 并联机器人 工作空间 灵活性 parallel manipulator workspace dexterity
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献4

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共引文献8

同被引文献61

  • 1LI RuiQin 1 &DAI Jian S 2 1 College of Mechanical Engineering and Automation,North University of China,Taiyuan 030051,China,2 Department of Mechanical Engineering,King’s College London,University of London,WC2R 2LS,UK.Crank conditions and rotatability of 3-RRR planar parallel mechanisms[J].Science China(Technological Sciences),2009,52(12):3601-3612. 被引量：12
  • 2冯志友,李永刚,张策,杨廷力.并联机器人机构运动与动力分析研究现状及展望[J].中国机械工程,2006,17(9):979-984. 被引量：58
  • 3吴爱玲,王中华.平面并联机器人的机构分类及奇异性[J].济南大学学报（自然科学版）,2007,21(2):161-163. 被引量：3
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引证文献14

二级引证文献53

上海理工大学学报
2005年 第4期

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