| 3SPS－PRPS并联型机器人机构位置正解分析 |
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| 引用本文： | 姚进,房海容.3SPS－PRPS并联型机器人机构位置正解分析[J].四川大学学报(工程科学版),1995(3). |
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| 作者姓名： | 姚进 房海容 |
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| 作者单位： | 成都科技大学机械工程系 |
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| 摘 要： | 本文提出由三支ＳＰＳ和一支ＰＲＰＳ运动链连接上下平台的并联型机器人机构的位置正解分析方法．以上平台顶点坐标为输出变量建立起几何约束方程组，通过消元推导出一元八次多项式的输入输出方程．
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| 关 键 词： | 并联机器人 位置正解分析 |
Forward Displacement Analysis of the 3SPS-PRPS Parallel Manipalator |
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| Yao Jin,Fang Hairong.Forward Displacement Analysis of the 3SPS-PRPS Parallel Manipalator[J].Journal of Sichuan University (Engineering Science Edition),1995(3). |
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| Authors: | Yao Jin Fang Hairong |
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| Affiliation: | Yao Jin;Fang Hairong |
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| Abstract: | A forward displacement analysis in closed-form is presented for the 3SPSPRPS parallel manipulator. The coordinates of the venices of the top platform are chosen as output variables and a set of equations are formulated by geometry constraints. With elimination by substitution, a polynomail equation of eighth degree in one unknown can be obtained. The result has been confirmedby a example. |
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| Keywords: | s: parallel manipulator forward displacemend analysis |
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