| 移动副驱动的2-DOF球面并联机构运动学分析 |
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| 引用本文： | 李占贤,杨志杰,于江. 移动副驱动的2-DOF球面并联机构运动学分析[J]. 机械设计与制造, 2011, 0(11) |
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| 作者姓名： | 李占贤 杨志杰 于江 |
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| 作者单位： | 河北联合大学机械工程学院,唐山,063009 |
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| 基金项目： | 河北省自然科学基金资助项目(E2010000954) |
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| 摘 要： | 提出了一种新型移动副驱动的二自由度球面并联机构,介绍了机构的基本特征并计算了其自由度,验证了该机构运动的确定性。该并联机构采用移动副驱动,具有定位准确、输出力大、容易控制的特点。借助球面解析几何理论,以杆长和共线为约束条件建立了机构的约束方程,采用解析法获得了该并联机构的位置正、逆解;利用求导的方法进一步得到该机构速度和加速度的正、逆解。研究结果丰富了球面并联机构的构型,为该并联机构的应用打下了理论基础。
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| 关 键 词： | 球面并联机构 运动学 位置正解 |
Kinematic analysis of a 2-DOF spherical parallel mechanism driven by sliding pair |
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| LI Zhan-xian,YANG Zhi-jie,YU Jiang. Kinematic analysis of a 2-DOF spherical parallel mechanism driven by sliding pair[J]. Machinery Design & Manufacture, 2011, 0(11) |
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| Authors: | LI Zhan-xian YANG Zhi-jie YU Jiang |
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| Affiliation: | LI Zhan-xian,YANG Zhi-jie,YU Jiang(College of Mechanical Engineering,Hebei United University,Tangshan 063009,China) |
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| Abstract: | A new 2-DOF spherical parallel mechanism driven by sliding pair is presented,which basic characteristics is described and the degree of freedom is calculated and the certainty of the movement of the mechanism is verified.The parallel mechanism driven by the sliding pair possesses features,such as accurate in positioning,large in force outputs,easy to control,etc.With the spherical analytic geometry theory,the link-length and collineation are taken as the constraint conditions to establish the constraint equ... |
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| Keywords: | Spherical parallel mechanism Kinematics Forward position solution |
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