摘要
研究了一种由Stewart平台演绎过来的正交6自由度PSS仿生型并联机器马的运动平台,介绍其结构布局特点,基于位置反解并确定点的坐标及其结构约束条件,描述工作空间的影响因素,对于该6DOF并联马机构的求解,通过数值法求得,并使用MATLAB工具编制程序,绘制其工作空间的轮廓图,为并联机器马的设计与实用化提供了理论依据。
The motion platform of the orthogonal 6-DOF PSS bionic parallel horse which interpreted by the Stewart plattorm was studied, the layout features of its structure were described, anti-solving and determining the coordinates of points and structure con- straints basing on the position, describing the affecting factors of the workspaee. For the solving of the 6DOF parallel horse, it can be obtained by numerical method. Programming with Matlab tools and drawing the outline of its work space to provide the theoretical basis for the design and practice of parallel horse.
出处
《机床与液压》
北大核心
2009年第11期23-25,29,共4页
Machine Tool & Hydraulics
基金
河北省科学技术研究与发展计划项目(07212106D)
关键词
仿生型并联机器马
位置姿态
工作空间
仿真
Bionic parallel horse
Position and gesture
Work space
Simulation
