| 欠秩空间并联机器人输入选取的理论与应用 |
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| 引用本文： | 赵铁石,黄真. 欠秩空间并联机器人输入选取的理论与应用[J]. 机械工程学报, 2000, 36(10): 81-85 |
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| 作者姓名： | 赵铁石 黄真 |
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| 作者单位： | 燕山大学机器人研究中心!秦皇岛066004 |
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| 基金项目： | 国家863计划， 教育部博士点基金资助 |
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| 摘 要： | 提出一种基于螺旋系线性相关性和约束反螺旋概念的空间并联机器人输入原动件选取合理性的判别方法。这种方法的原理是首先求取机构的结构及刚化机构主动副映射到动平台的反螺旋系，然后判断刚化输入映射到动平台上的反螺旋系及其与结构约束反螺旋系的线性相关性，从而确定空间并联机器人输入选取的机构学合理性。以３－ＲＲＣ和４－ＴＲＴ两种新型并联机器人机构模型为例进行了验证。
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| 关 键 词： | 螺旋理论 并联机器人 机构学 输入选取 |
THEORY AND APPLICATION OF SELECTING ACTUATING COMPONENIS OF SPATIAL PARALLEL MECHANISMS |
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| Zhao Tieshi,Huang Zhen. THEORY AND APPLICATION OF SELECTING ACTUATING COMPONENIS OF SPATIAL PARALLEL MECHANISMS[J]. Chinese Journal of Mechanical Engineering, 2000, 36(10): 81-85 |
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| Authors: | Zhao Tieshi Huang Zhen |
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| Affiliation: | Yanshan University |
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| Abstract: | Based on the concepts of reciprocal screws and their linear correlativity,a detecting method of input interference in a spatial parallel manipulator is presented.The first step of this method is to find the reciprOCal screws reflected on the motion platform from the restrictions of the strUcture of the mechanism and actuating components, the second step is to detect their linear correlativity and judge the Selected actuating components reasonable or not.Two new type parallel mechanisms,3 - RRC and 4 - TRT mechanisms, are analyzed as examples finally. |
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| Keywords: | Screw theory Parallel manipulator Mechacs Input selecting |
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