| 弹性欠驱动2-RR(RRPeR)机构及其方向刚度分析 |
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| 引用本文： | 耿明超,任玉灿,张灿果,倪笑宇. 弹性欠驱动2-RR(RRPeR)机构及其方向刚度分析[J]. 电子测试, 2017, 0(6). DOI: 10.3969/j.issn.1000-8519.2017.06.018 |
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| 作者姓名： | 耿明超 任玉灿 张灿果 倪笑宇 |
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| 作者单位： | 河北建筑工程学院机械工程学院,河北 张家口,075000 |
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| 基金项目： | 河北省高等学校青年拔尖人才计划项目，张家口市科技计划自筹经费项目，河北建筑工程学院博士科研启动基金项目 |
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| 摘 要： | 根据多维运动模拟的需求,提出了一种弹性欠驱动2-RR(RRPeR)机构.该机构利用两个驱动及弹性动力耦合产生三维运动.基于旋量代数,建立机构的运动学、静力学模型,并以此为基础得到了其方向刚度模型.
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| 关 键 词： | 并联机构 欠驱动 方向刚度 |
Elastic underactuated 2-RR(RRPeR) mechanism and its direction stiffness analysis |
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| Geng Mingchao,Ren Yucan,Zhang Canguo,Ni Xiaoyu. Elastic underactuated 2-RR(RRPeR) mechanism and its direction stiffness analysis[J]. Electronic Test, 2017, 0(6). DOI: 10.3969/j.issn.1000-8519.2017.06.018 |
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| Authors: | Geng Mingchao Ren Yucan Zhang Canguo Ni Xiaoyu |
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| Abstract: | According to the demand of the multi-dimensional motion simulation, a class of elastic underactuated 2-RR(RRPeR) mechanism is put forward. Three degrees of freedom of the mechanism is driven by only two drives and the elastic dynamic coupling effects. Based on screws, the kinematics and statics of the mechanism are given, and based on this, the direction stiffness is given. |
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| Keywords: | Parallel mechanism Underactuated Direction stiffness |
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