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3-PRU并联机器人机构及其运动学

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摘要 提出了一种空间3自由度并联机构3-PRU,该机构有动平台、定平台和三个连接支链组成,动平台相对于定平台有2个转动和1个移动。该机构是个过约束机构,结构简单、对称,刚度高,控制简单。文中建立了运动学方程,通过计算给出了位置反解和Jacobi矩阵。
作者 杨晓平
出处 《科技咨询导报》 2007年第3期205-205,共1页 Science and Technology Consulting Herald
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