| 一种两自由度并联机构的位姿分析 |
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| 引用本文： | 贾中会,王峻峰,史铁林. 一种两自由度并联机构的位姿分析[J]. 机械工程师, 2007, 0(1): 24-25 |
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| 作者姓名： | 贾中会 王峻峰 史铁林 |
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| 作者单位： | 华中科技大学,机械科学与工程学院,武汉,430074 |
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| 摘 要： | 对一种具有被动链的两自由度并联机构进行了位姿分析,推导了机构的位姿反解,讨论了位姿正解,给出了该种机构位姿的数值仿真实例,为该种并联机构的进一步研究提供了借鉴.
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| 关 键 词： | 并联机构 被动链 运动学 两自由度 并联机构 位姿分析 Parallel Robot 研究 仿真实例 数值 位姿正解 位姿反解 动链 |
| 文章编号： | 1002-2333(2007)01-0024-02 |
| 修稿时间： | 2006-07-05 |
Positional Analysis on a 2-DOF Parallel Robot |
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| JIA Zhong-hui,WANG Jun-feng,SHI Tie-lin. Positional Analysis on a 2-DOF Parallel Robot[J]. Mechanical Engineer, 2007, 0(1): 24-25 |
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| Authors: | JIA Zhong-hui WANG Jun-feng SHI Tie-lin |
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| Affiliation: | Institute of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074,China |
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| Abstract: | A two-DOF parallel robot with constrained leg is presented and its position is analyzed. Then derives forward solution and discusses inverse displacement solution. Finally its numerical emulation examples,which provides theoretical base for its optimal design, are given. |
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| Keywords: | parallel robot passive constraining leg kinematics |
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