摘要
将Klein映射理论应用到多自由度输入选取的判别中,讨论了3力3偶螺旋系的相关性,给出了相关性的判据,使相关性判别变得非常简单,避免了输入选取判别中复杂的数学运算和机构参数未知的问题,从而解决了输入选取的判别难题。利用提出的判别理论研究了一种新型3-RPUR并联机构的输入合理性。
Because of mechanism parameters unknown and complicated mathematical calculations,it is very difficult for us to identify screw system independence. However,Klein projective geometry theory is used to discuss screw system dependence in this paper. As a result,it is very easy for us to identify screw system dependence by Klein projective geometry theory,so the problem of discriminating input selecting reasonability is solved. Finally,the research is used to solve input selecting reasonability of a novel 3-RPUR parallel mechanism.
出处
《机械设计》
CSCD
北大核心
2010年第4期62-64,共3页
Journal of Machine Design
基金
教育部科学技术研究重点资助项目(208015)
河北省自然科学基金资助项目(E2007000352)
关键词
螺旋系
Klein映射
空间并联机构
输入选取
screw theory
klein mapping
parallel manipulator
mechanics input selecting
