摘要
应用螺旋理论,针对一类3RRC并联机器人机构进行自由度分析,结合矩阵法对其位置正反解进行分析,得出了适用于这一类并联机器人机构位置分析的输入输出方程。利用该方程可方便地对3RRC类并联机器人机构进行程式化设计和分析。
Degrees of freedom to 3RRC parallel robot mechanisms were analyzed by screw theory, and the forward and inverse position formation of it were analysed by matrix method, the input and output functions of the position analysis which were suitable to this kind of parallel robot mechanisms had been obtained. It is benefit for the design and analysis to this kind of parallel robot mechanisms.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第11期1114-1117,共4页
China Mechanical Engineering
基金
山东省自然科学基金资助项目(Y2003F01)
山东省教育厅资助项目(J05C14)
山东理工大学科研基金资助项目(2004KJM05)
关键词
并联机器人
机构
螺旋理论
位置分析
parallel robot
mechanism
screw theory
position analysis
