| 新型空间三自由度并联机器人机构的位置分析 |
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| 引用本文： | 刘治强,徐尤南,李王英.新型空间三自由度并联机器人机构的位置分析[J].煤矿机械,2008,29(5):61-64. |
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| 作者姓名： | 刘治强 徐尤南 李王英 |
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| 作者单位： | 华东交通大学机电工程学院,南昌,330013 |
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| 摘 要： | 提出一种新型空间三自由度并联机构,该机构的动平台相对于定平台具有空间2个移动、1个转动自由度。建立了其位置正反解的封闭形式,给出其位置分析的正逆解析解。通过求解实例验证其正确性。
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| 关 键 词： | 并联机器人 位置分析 封闭解 |
| 文章编号： | 1003-0794(2008)05-0061-04 |
| 修稿时间： | 2007年9月28日 |
Position Analysis of Novel Spatial 3-freedom Parallel Manipulator |
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| LIU Zhi-qiang,XU You-nan,LI Wang-ying.Position Analysis of Novel Spatial 3-freedom Parallel Manipulator[J].Coal Mine Machinery,2008,29(5):61-64. |
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| Authors: | LIU Zhi-qiang XU You-nan LI Wang-ying |
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| Abstract: | A new spatial three degree-of-freedom,is two degrees of translational freedom and one degree of orientational freedom,parallel manipulator is proposed.Closed-form solutions of the manipulator are developed for both the inverse and direct kinematics,then the closed-formed analytic solutions are developed for both the forward and inverse kinematics.It is confirmed its accuracy through the solution example. |
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| Keywords: | parallel manipulator position analysis closed solutions |
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