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| 3-R11R11R-4r三平移解耦并联机构位置计算及样机研制 | |
| 引用本文： | 沈惠平,马履中,沈春根,尹小琴,潘国俊,杨廷力.3-R11R11R-4r三平移解耦并联机构位置计算及样机研制[J].机械设计与研究,2004,20(1):16-18. |
| 作者姓名： | 沈惠平 马履中 沈春根 尹小琴 潘国俊 杨廷力 |
| 作者单位： | 1. 江苏工业学院,机械系,常州,213016 2. 江苏大学,机械工程学院,镇江,212103 3. 中国石化金陵石油化工有限责任公司,南京,210037 |
| 基金项目： | 江苏省自然科学基金资助项目(BK2001413);国家自然科学基金资助项目(50275070) |
| 摘 要： | 基于以单开链为单元的并联机器人机构组成原理，设计并研制了一种全由转动副组成的动平台能实现空间三维纯移动的解耦并联机器人机构，给出了其位置分析的正、逆解析解，为其工作空间分析、误差分析等奠定了基础。 |
| 关 键 词： | 并联机器人 并联机构 位置分析 运动学 单开链 |
| 文章编号： | 1006-2343(2004)01-016-03 |
| 修稿时间： | 2003年6月23日 |
Position Analytic Sotution for a Novel 3-translation Parallel Mechanism and Its Prototype |
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| SHEN Hui-ping,MA Li-zhong,SHEN Chung-geng,YING Xiao-qin,PAN Guo-jung,YANG Ting-li.Position Analytic Sotution for a Novel 3-translation Parallel Mechanism and Its Prototype[J].Machine Design and Research,2004,20(1):16-18. | |
| Authors: | SHEN Hui-ping MA Li-zhong SHEN Chung-geng YING Xiao-qin PAN Guo-jung YANG Ting-li |
| Affiliation: | SHEN Hui-ping~1,MA Li-zhong~2,SHEN Chung-geng~2,YING Xiao-qin~2,PAN Guo-jung~1,YANG Ting-li~3 |
| Abstract: | A novel 3-translation parallel robot mechanisms was synthesized and investigated according to the structural theory of parallel mechanisms based on the units of the single-opened-chain limb.The parallel mechanism was made of pure revolute joints,which make its manufacture and assembly easy.The closed-formed analytic solutions for both the forward and inverse displacement were also developed,which provided a solid foundation for the workspace analysis and error analysis of the mechanism.The prototype of the parallel mechanism was also manufactured. |
| Keywords: | parallel mechanisms displacement anslysis single-opened-chain |
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