| 一种三自由度新型并联机构的运动学分析 |
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| 引用本文： | 王海东,杨炳恒,毕玉泉,黄葵.一种三自由度新型并联机构的运动学分析[J].中国制造业信息化,2011,40(1). |
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| 作者姓名： | 王海东 杨炳恒 毕玉泉 黄葵 |
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| 作者单位： | 海军航空工程学院,青岛分院,山东,青岛,266041 |
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| 摘 要： | 提出了一种能够实现三维移动的空间新型三自由度并联机构,其固定平台与运动平台通过对称布置的CU支链相连接.基于该机构运动约束方程,得到位置反解、正解和速度方程的封闭表达式.最后,应用实例验证了理论分析的正确性.
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| 关 键 词： | 并联机构 位置反解 位置正解 |
Kinematics Analysis on New Parallel Mechanisms with Three Freedom |
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| WANG Hai-dong,YANG Bing-heng,BI Yu-quan,HUANG Ku.Kinematics Analysis on New Parallel Mechanisms with Three Freedom[J].Manufacture Information Engineering of China,2011,40(1). |
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| Authors: | WANG Hai-dong YANG Bing-heng BI Yu-quan HUANG Ku |
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| Affiliation: | WANG Hai-dong,YANG Bing-heng,BI Yu-quan,HUANG Ku(Qingdao Branch of Naval Aeronautical Engineering Institute,Shandong Qingdao,266041,China) |
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| Abstract: | It proposes one type of spatial new parallel manipulator with three translation.By means of three CU^ branch,the moving platform is linked to the fixed platform of the manipulator.Based on the motion constrained functions of the parallel mechanisms,it shows the detail about the complete closed form formulae of positive and reverse positional solution.The example illustrates that the theoretical analysis is right. |
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| Keywords: | Parallel Manipulator Positive Positional Solution Reverse Positional Solution |
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