| 一种用于腕关节的球面三自由度并联解耦机构位置分析 |
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| 引用本文： | 孙立宁,刘宇,祝宇虹.一种用于腕关节的球面三自由度并联解耦机构位置分析[J].中国机械工程,2003,14(10):831-833. |
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| 作者姓名： | 孙立宁 刘宇 祝宇虹 |
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| 作者单位： | 哈尔滨工业大学机电工程学院,哈尔滨市,150001 |
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| 摘 要： | 根据螺旋理论分析了并联球面解耦机构的自由度，应用空间球面解析理论，讨论了并联球面解耦机构的机构学特点，推导了位置正解及逆解，可以看出其解析形式简洁，便于分析和计算，为动力学和控制研究打下良好的基础。
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| 关 键 词： | 解耦机构 球面解析理论 位置正解 位置逆解 |
| 文章编号： | 1004-132X(2003)10-0831-03 |
A Kinetic Analysis of 3-DOF Decoupled Spherical Parallel Mechanism Used for the Wrist Joint |
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| Sun Lining.A Kinetic Analysis of 3-DOF Decoupled Spherical Parallel Mechanism Used for the Wrist Joint[J].China Mechanical Engineering,2003,14(10):831-833. |
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| Authors: | Sun Lining |
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| Abstract: | Firstly, based on screw theory particularly this paper deals with degree of freedom of a kind of parallel spherical wrist joint mechansm, then according to spatial spherical analytical theory discusses its mechanism characteristics, and derives its direct kinematics and inverse kinematics. It can be seen that the analytical form is concise and easy to analyze and calculate, which favorably contributes to dynamics analysis and control. |
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| Keywords: | decoupled mechanism spherical analytical theory direct kinematics inverse kinematics |
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