摘要
就３／６－ ＳＰＳ型Ｓｔｅｗ ａｒｔ机构的一般线性丛奇异作了分析，给出特殊位形的判别矩阵，论证了产生这种奇异的运动学原理和几何条件，重点讨论了平台式和球台式Ｓｔｅｗ ａｒｔ机构的奇异。其结果对类似的虚轴机床Ｈｅｘａｐｏｄ 有着重要的应用意义。
It is complicated to analyze the general-linear-complex special configuration (GLCSC) of parallel manipulators, and the problem has not been solved since Hunt published his paper firstly on SC of a parallel manipulator in 1983 This paper analyzed GLCSC of a 3/6-SPS A discriminative matrix of SC is presented at first Then the principle and condition of GLCSC is proposed Both the platform and spherical segment manipulators are discussed The results are important for the applications of these manipulators including so-called ‘Hexapod’
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第9期997-1000,共4页
China Mechanical Engineering
基金
国家自然科学基金
关键词
并联机构
一般线性丛
奇异位型
虚轴机床
机器人
parallel manipulator general linear complex special configuration virtual machine tools
