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| 欠秩3-UPU并联角台机构工作空间分析 | |
| 引用本文： | 李仕华,黄真,左荣国. 欠秩3-UPU并联角台机构工作空间分析[J]. 机械设计, 2004, 21(8): 35-38 |
| 作者姓名： | 李仕华 黄真 左荣国 |
| 作者单位： | 燕山大学,机械学院,河北,秦皇岛,066004;燕山大学,机械学院,河北,秦皇岛,066004;燕山大学,机械学院,河北,秦皇岛,066004 |
| 基金项目： | 国家自然科学基金资助项目 (50 0 750 74) |
| 摘 要： | 针对欠秩3—UPU并联角台机构的结构特点，首先找出了该机构的几何约束，在此基础上建立了该机构移动副两端虎克铰平行或垂直布置时的位置反解方程。然后利用该机构的几何约束条件，进一步建立了该机构在两种情况下的工作空间的求解方程，为该机构的应用奠定了一定的基础。 |
| 关 键 词： | 空间并联机构 工作空间 运动分析 |
| 文章编号： | 1001-2354(2004)08-0035-04 |
Workspace analysis of deficient-rank 3-UPU parallel truncated pyramid mechanism |
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| LI Shi-hua,HUANG Zhen,ZUO Rong-guo. Workspace analysis of deficient-rank 3-UPU parallel truncated pyramid mechanism[J]. Journal of Machine Design, 2004, 21(8): 35-38 | |
| Authors: | LI Shi-hua HUANG Zhen ZUO Rong-guo |
| Abstract: | Directed against the structural characteristics of deficient-rank 3-UPU parallel-truncated pyramid mechanism, firstly the geometric constraint of this mechanism was found out. Taking this as a base, the positional reverse solution equation was established for the universal joint, when being parallel or perpendicular arranged, on the two ends of this mechanism's moving pairs. After that, by the use of geometric constraint conditions of this mechanism, the solution equations have further been established for the workspace of this mechanism under two kinds of conditions, thus laid a certain foundation for the application of this mechanism. |
| Keywords: | spatial parallel mechanism workspace movement analysis |
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