| 3-DOF SMLT并联运动学机器的工作空间解析研究 |
| |
| 引用本文： | 姚裕,吴洪涛,左健民,周明虎. 3-DOF SMLT并联运动学机器的工作空间解析研究[J]. 机械科学与技术, 2003, 22(5): 776-778 |
| |
| 作者姓名： | 姚裕 吴洪涛 左健民 周明虎 |
| |
| 作者单位： | 南京航空航天大学,南京,210016;南京工程学院,南京,210013 |
| |
| 摘 要： | 针对 SML T并联运动学机器的结构特征 ,将闭式并联运动学机器分解为三个开式子链 ,基于解析几何理论和微分理论 ,分别研究其子空间 ,找出子空间的边界解析式。然后求三个子空间的交集 ,得到 SML T并联运动学机器工作空间的不规则几何形状 ,再进行圆整 ,由此创造性地提出 SML T并联运动学机器的圆台工作空间理论 ,并推导出圆台工作空间的边界解析式 ,最后通过数值算例验证该法的有效性。突破了此类并联机床工作空间求解困难的瓶颈 ,可有效地指导 SML T并联运动学机器的设计和优化
|
| 关 键 词： | 并联运动学机器 工作空间 解析解 |
| 文章编号： | 1003-8728(2003)05-0776-03 |
| 修稿时间： | 2002-04-30 |
Analytic Analysis of Workspace for 3-DOF Stewart Mechanism with Line Tracks |
| |
| YAO Yu ,WU Hong-tao ,ZUO Jian-min ,ZHOU Ming-hu. Analytic Analysis of Workspace for 3-DOF Stewart Mechanism with Line Tracks[J]. Mechanical Science and Technology for Aerospace Engineering, 2003, 22(5): 776-778 |
| |
| Authors: | YAO Yu WU Hong-tao ZUO Jian-min ZHOU Ming-hu |
| |
| Affiliation: | YAO Yu 1,WU Hong-tao 1,ZUO Jian-min 2,ZHOU Ming-hu 2 |
| |
| Abstract: | This paper deals with the workspaces of a closed SMLT(Stewart Mechanism with Line Tracks) according to its structural feature. It is based on the theory of differential calculus and analytic geometry. Then we studied each sub-workspace respectively, found out its marginal analytic expressions, calculated the intersection of the three sub-workspaces, acquired the irregular figure of the workspace, and put forward the theory of drum in a creative way by smoothing it. Finally,an example is presented to verify the method. With our method, the difficulty in calculating the workspace is overcome. |
| |
| Keywords: | Parallel manipulator Workspace Analytic solution |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
