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| 一种新型三维平移并联机构及其位置分析 | |
| 引用本文： | 沈惠平,杨廷力,刘安心,马履中. 一种新型三维平移并联机构及其位置分析[J]. 中国机械工程, 2004, 15(20): 1853-1856 |
| 作者姓名： | 沈惠平 杨廷力 刘安心 马履中 |
| 作者单位： | 1. 江苏大学机械工程学院,镇江,212013;江苏工业学院机械系,常州,213016 2. 中国石化金陵石油化工有限责任公司,南京,210037 3. 解放军理工大学工程兵工程学院,南京,210007 4. 江苏大学机械工程学院,镇江,212013 |
| 基金项目： | 国家自然科学基金资助项目 ( 5 0 2 75 0 70、5 0 3 75 0 67)，江苏省自然科学基金资助项目 (BK2 0 0 14 13 ) |
| 摘 要： | 基于以单开链为单元的并联机器人机构组成原理，设计构造了一种动平台能实现空间三维纯移动的并联机器人机构，对其进行了结构特性分析；给出了其位置分析的正逆解析解，讨论了该机构的输入一输出运动解耦性；用连续法对该机构进行了位置正解的数值计算。 |
| 关 键 词： | 并联机构 位置分析 并联机器人 型综合 单开链 |
| 文章编号： | 1004-132Ⅹ(2004)20-1853-04 |
A Novel Three-Translational Parallel Mechanism and Its Position Analysis |
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| Shen Huiping , Yang Tingli Liu Anxin Ma Lvzhong .Jiangsu University,Zhengjiang, .Jiangsu Polytechnic University,Changzhou, .China Petrochemical Jinling Petrochemical Corporation,Nanjing, .PLA University of Science and Technology,Nanjing. A Novel Three-Translational Parallel Mechanism and Its Position Analysis[J]. China Mechanical Engineering, 2004, 15(20): 1853-1856 | |
| Authors: | Shen Huiping Yang Tingli Liu Anxin Ma Lvzhong .Jiangsu University Zhengjiang .Jiangsu Polytechnic University Changzhou .China Petrochemical Jinling Petrochemical Corporation Nanjing .PLA University of Science Technology Nanjing |
| Affiliation: | Shen Huiping 1,2 Yang Tingli 3 Liu Anxin 4 Ma Lvzhong 1 1.Jiangsu University,Zhengjiang,212013 2.Jiangsu Polytechnic University,Changzhou,213016 3.China Petrochemical Jinling Petrochemical Corporation,Nanjing,210037 4.PLA University of Science and Technology,Nanjing,210007 |
| Abstract: | A new 3-DOF parallel robot mechanisms with 3-translation is synthesized and investigated according to the structural theory of parallel robotic mechanisms based on the units of the Single-opened-chain limb. First, the structural characteristics analysis for the parallel mechanism, including mobility analysis, motion output analysis and structure complexity analysis, is addressed; then the closed-formed analytic solutions are developed for both the forward and inverse kinematics, moreover, input-output motion relationship is discussed. Finally, numerical solutions for the forward kinematics of the parallel mechanism given specific dimension are demonstrated. |
| Keywords: | parallel mechanisms parallel robotics position analysis type synthesis single-opened-chain |
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