摘要
结合变几何桁架机器人的特点 ,研究了 N重八面体变几何桁架机器人的速度、加速度分析方法 ,导出了 N重八面体变几何桁架机器人速度、加速度分析递推公式 ,提出了末端平台参考点的速度和加速度正解的分析方法 。
A method for velocity and acceleration analysis of N celled octahedral variable geometry truss manipulators (VGTM) is proposed according to the structural characteristics of VGTM. The recursive formulae for determining velocity and acceleration between two cells of N celled octahedral VGTM are derived for the first time, and the formulae for velocity and acceleration analysis of the end platform are also obtained. Our method can also be used for solving the kinematic analysis problems of other types of VGTMs or parallel spatial mechanisms.
出处
《机械科学与技术》
CSCD
北大核心
2002年第6期954-956,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金 (5 92 75 15 7)项目资助
关键词
变几何桁架
机器人
速度分析
加速度分析
Variable geometry truss
Manipulator
Velocity analysis
Acceleration analysis
