摘要
提出了一种新型的三自由度并联平台式机器人机构——— 3-CSR并联机构 ,建立了 3-CSR并联机构模型 ,讨论了运动学位姿正反解的求解方法和活动平台的运动空间 ,制作了机构样机 ,实验证明这种并联机构能灵活地调整活动平台的位姿。
A new kind of 3-DOF robotic parallel platform mechanism is presented. The structure and model of the 3-CSR parallel mechanism is discussed. The solutions to the position and pose of the movable platform in direct and indirect kinematics are given and the working space of the movable platform is investigated. Experiments have been conducted on a prototype and the results testify that the mechanism can effectively adjust the pose of the platform.
出处
《机床与液压》
北大核心
2003年第5期11-13,252,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金重点资助项目 (6 98890 5 0 1)
