| 三杆六自由度并联机器人运动学研究 |
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| 引用本文： | 李波,蔡光起. 三杆六自由度并联机器人运动学研究[J]. 机械设计与制造, 1999, 0(4): 17-18 |
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| 作者姓名： | 李波 蔡光起 |
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| 作者单位： | 东北大学机械工程与自动化学院,沈阳,110006 |
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| 摘 要： | 分析了一种三杆并联机器人的自由度，给出了其运动学逆解方程，并对其工作空间进行了仿真。该机器人运动学逆解方程形式简单、计算量小、易于进行实时控制、工作空间大，在机械加工等领域具有一定的应用价值。
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| 关 键 词： | 并联机器人 运动学 工作空间 |
Kinematics Study of a 3-legged 6-DOF In-Parallel Robot |
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| LI Bo,CAI Guang-qi. Kinematics Study of a 3-legged 6-DOF In-Parallel Robot[J]. Machinery Design & Manufacture, 1999, 0(4): 17-18 |
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| Authors: | LI Bo CAI Guang-qi |
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| Abstract: | The degree of a 3 - legged in - parallel robot is analal. Its inverse kinematics is present and its workspace is simulated. Its inverse kinematics is simple and computation quantity is small and it is easy to accomplish its real-time control. Its workspace is large. It has a good application wealth in manufacturing fields. |
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| Keywords: | In- Parallel Robot Kinematics Workspace |
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