| 3-PRUR三平移并联机构位置计算 |
| |
| 引用本文： | 刘爱荣,马履中.3-PRUR三平移并联机构位置计算[J].机械设计与制造,2009(7). |
| |
| 作者姓名： | 刘爱荣 马履中 |
| |
| 作者单位： | 江苏大学智能机械与机器人研究所,镇江,212013 |
| |
| 基金项目： | 国家自然科学基金资助项目(50375067);;高等学校博士点专项科研基金资助课题(20050299002) |
| |
| 摘 要： | 根据并联机器人机构结构综合理论,构造出一种新型的具有三平移的3自由度并联机器人机构。建立了运动学模型,分析了该机构的运动特性和运动学正反解。简单的运动学反解模型为该机构作进一步的运动学动力学及优化设计研究打下了基础。
|
| 关 键 词： | 并联机器人 运动特性 运动学 |
Position analytic solutions for a novel 3-PRUR translational parallel mechanism |
| |
| LIU Ai-rong,MA Lv-zhong.Position analytic solutions for a novel 3-PRUR translational parallel mechanism[J].Machinery Design & Manufacture,2009(7). |
| |
| Authors: | LIU Ai-rong MA Lv-zhong |
| |
| Affiliation: | Intelligent Machinery & Robot Institute of Jiangsu University;Zhenjiang 212013;China |
| |
| Abstract: | Basedontheories of the structure type synthesis of parallel kinematics mechanism a novel 3-DOF parallel robot mechanism for realizing three translations was put forward.the forward and reversal kinematics of the mechanism were obtained.Its positional inverse resolution model was very simple,which laid a satisfactory foundation for the further study of its kinematics and dynamics and optimal design. |
| |
| Keywords: | Parallel robot mechanism Structural characteristics analysis Kinematics |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
