| 利用特征列方法求解并联机构位置正解 |
| |
| 引用本文： | 牛禄峰.利用特征列方法求解并联机构位置正解[J].机械设计,2007,24(8):28-30. |
| |
| 作者姓名： | 牛禄峰 |
| |
| 作者单位： | 宝鸡文理学院,机电工程系,机电研究所,陕西,宝鸡,721007 |
| |
| 摘 要： | 提出一种并联机构位置正解的方法.采用吴文俊的数学机械化方法对具有一般尺度参数的3-RPS并联机构位置方程进行消元,计算出与机构约束方程具有相同零点的特征列,从而得到只含一个未知数的代数方程,通过零点分解求得机构全部位置解.计算过程采用了机械化程序,具有通用性.
|
| 关 键 词： | 并联机构 位置正解 特征列 零点分解 利用 特征列方法 求解 并联机构 机构位置正解 parallel mechanism solution normal method 通用性 化程序 机械化方法 计算过程 位置解 零点分解 代数方程 约束方程 消元 位置方程 尺度参数 |
| 文章编号： | 1001-2354（2007）08-0028-03 |
| 修稿时间： | 2006-11-30 |
Using the characteristic row method to solve the positional normal solution of parallel mechanism |
| |
| NIU Lu-feng.Using the characteristic row method to solve the positional normal solution of parallel mechanism[J].Journal of Machine Design,2007,24(8):28-30. |
| |
| Authors: | NIU Lu-feng |
| |
| Affiliation: | Electro-Mechanical Research Institute, Department of Electro-Mechanical Engineering, Baoji Art and Science College, Baoji 721007, China |
| |
| Abstract: | A kind of positional normal solution method for parallel robot has been put forward.The elimination was carried out by the use of WU Wenjun's mathematics mechanization method on the positional equations of 3-RPS parallel mechanism that possesses general dimensional parameters.A characteristic row that possesses identical zero point with the constraint equation of mechanism has been calculated,thus obtained an algebraic equation that contains only one unknown.The entire positional solutions of mechanism were obtained by means of zero point analysis.The course of computation adopted a mechanized program and has versatility. |
| |
| Keywords: | parallel mechanism positional normal solution characteristic row zero point analysis |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
