| 混合型三维移动并联机构及其运动学分析 |
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| 引用本文： | 赵铁石,黄真. 混合型三维移动并联机构及其运动学分析[J]. 机械传动, 2000, 24(2): 1-3 |
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| 作者姓名： | 赵铁石 黄真 |
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| 作者单位： | 燕山大学机器人研究中心河北秦皇岛 066004 |
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| 基金项目： | 国家863计划(863-512-805-9805-01),博士点基金项目(97021601) |
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| 摘 要： | 为丰富空间并联机器人机型，提出了两种具有混合分支的三维移动并机器人机构模型。其中一种由两个ＣＲＲ分支，一个ＳＰＳ分支构成；另一种由两个ＣＰＲ分支，一个ＳＰＳ分支构成。在文中，采用螺旋理论分析了它能实现空间三维移动的机构学原理，计算了它的自由度；给出了其位置速度和加速度的正反解，并进行了数值验证。
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| 关 键 词： | 机器人 机械学 位置分析 三维移动并联机构 |
| 文章编号： | 1004-2539(2000)02-0001-03 |
| 修稿时间： | 1999-10-22 |
The Mixed Type Three-DOF Translationa Platform Mechanisms and Their kinematics Analysis |
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| Zhao Tieshi,et al. The Mixed Type Three-DOF Translationa Platform Mechanisms and Their kinematics Analysis[J]. Journal of Mechanical Transmission, 2000, 24(2): 1-3 |
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| Authors: | Zhao Tieshi et al |
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| Abstract: | In order to enrich mechanism models of spatial parallel manipulators, two novel models of 3-DOF parallel manipulators are presented. One of them is composed of two CRR limbs and one SPS limb, another is composed of two CPR limbs and one SPS limb. The main characteristics of the models are its simple mechanism and easy decoupling of inputs. The screw motions and the degree of freedom of the models are discussed first. The solutions are developed for both the inverse and forward kinematics including position, velocity and acceleration analysis. Some numerical examples for the kinematics analysis are pressnted finally. |
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| Keywords: | Manipulator Parallel mechanism Kinematics analysis |
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