摘要
对一种具有被动链的两自由度并联机构进行了位姿分析,推导了机构的位姿反解,讨论了位姿正解,给出了该种机构位姿的数值仿真实例,为该种并联机构的进一步研究提供了借鉴。
A two-DOF parallel robot with constrained leg is presented and its position is analyzed. Then derives forward solution and discusses inverse displacement solution. Finally its numerical emulation examples ,which provides theoretical base for its optimal design, are given.
出处
《机械工程师》
2007年第1期24-25,共2页
Mechanical Engineer
关键词
并联机构
被动链
运动学
parallel robot
passive constraining leg
kinematics
