| 一种新型2T3R并联机器人的研究 |
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| 引用本文： | 陈红亮,罗玉峰,李剑秀,石志新,薛娜娜,刘治志,杨廷力. 一种新型2T3R并联机器人的研究[J]. 机床与液压, 2007, 35(11): 23-24 |
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| 作者姓名： | 陈红亮 罗玉峰 李剑秀 石志新 薛娜娜 刘治志 杨廷力 |
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| 作者单位： | 南昌大学机电工程学院,南昌,330031;中国石化集团金陵石油化工有限责任公司,南京,210037 |
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| 摘 要： | 理想的少自由度并联机构的所有分支最好具有完全相同的结构,保持结构的对称,以满足各向同性的要求.本文以单开链支路为单元,提出了一种新型的对称的少自由度的并联机器人机构.研究结果表明,该机构的运动平台具有二维移动和三维转动的5个自由度.
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| 关 键 词： | 并联机器人机构 五自由度 单开链 |
| 文章编号： | 1001-3881（2007）11-023-2 |
| 修稿时间： | 2006-11-28 |
Research on a Novel 2T3R Parallel Manipulator |
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| CHEN Hongliang,LUO Yufeng,Li Jianxiu,SHI Zhixin,XUE Nana,LIU Zhizhi,YANG Tingli. Research on a Novel 2T3R Parallel Manipulator[J]. Machine Tool & Hydraulics, 2007, 35(11): 23-24 |
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| Authors: | CHEN Hongliang LUO Yufeng Li Jianxiu SHI Zhixin XUE Nana LIU Zhizhi YANG Tingli |
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| Affiliation: | 1. College of Mechanical and Electrical Control Engineering, Nanchang University, Nanchang 330031, China; 2. Jinling Petrochemical Corporation, Nanjing 210037, China |
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| Abstract: | It is perfect that the limb of the minor DOF parallel manipulator has the same structure and keep sysmmetrical to satisfied isotropy. Based on the units of single-opened-chain limb, a novel 5-DOF parallel manipulator with 2T3R was put forward. |
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| Keywords: | Parallel manipulator 5-DOF Single-opened-chain |
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