摘要
基于并联机构的原理,设计了3自由度的三维平移的并联机构,分析了三平移并联机构的运动特性,通过计算得到其正、逆解析解。该机构对称性好,加工方便、造价低且易于控制。
According to the theory of parallel robot mechanism,a 3-DOF translational parallel mechanism is designed.The kinetic characteristic of the 3-DOF translational parallel mechanism is analyzed.The forward and inverse analytic solution are obtained through caculation.The 3-DOF translational parallel mechanism has many advantages such as good symmetry of the body,processing convenience,low cost and easy to control.
出处
《机械传动》
CSCD
北大核心
2011年第2期57-59,共3页
Journal of Mechanical Transmission
关键词
并联机构
自由度
反解
结构学
Parallel mechanism Degrees of freedom Inverse solution Structural analysis
