| 一种新型三维平动并联机构及其位置分析 |
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| 引用本文： | 曾达幸,黄真,侯雨雷. 一种新型三维平动并联机构及其位置分析[J]. 中国机械工程, 2008, 19(2): 239-241 |
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| 作者姓名： | 曾达幸 黄真 侯雨雷 |
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| 作者单位： | 燕山大学,秦皇岛,066004 |
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| 摘 要： | 对一种新型的三平动自由度并联机构3-PRUR进行了研究。首先，使用螺旋理论确定了该机构的自由度和可能的运动;然后，根据机构的特点求得该机构的位置反解;接着使用Bezout消元法求得该机构的位置正解;最后，提供了一个数值实例，该实例证明了位置正反解的正确性。
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| 关 键 词： | 并联机构 螺旋理论 位置反解 Bezout消元法 位置正解 |
| 文章编号： | 1004-132X（2008）02-0239-03 |
| 收稿时间： | 2006-12-24 |
| 修稿时间： | 2006-12-24 |
A Novel 3-DOF Translational Parallel Mechanism and Its Position Analysis |
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| Zeng Daxing,Huang Zhen,Hou Yulei. A Novel 3-DOF Translational Parallel Mechanism and Its Position Analysis[J]. China Mechanical Engineering, 2008, 19(2): 239-241 |
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| Authors: | Zeng Daxing Huang Zhen Hou Yulei |
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| Abstract: | A novel 3-DOF parallel mechanism that can perform three-dimensional translations was investigated herein.At first,the degree-of-freedom and possible motion were defined by using screw theory.Then closed-form inverse displacement solutions were obtained based on the characteristics of the parallel mechanism and the forward displacement problem was analyzed by using the Bezout's elimination method.At last,a numerical example was given in order to prove the correctness of the inverse and forward displacement solutions. |
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| Keywords: | parallel mechanism screw theory inverse displacement solution Bezout's elimination method forward displacement solution |
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