| 2-RRU&RSR并联机构运动学传动性能分析 |
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| 引用本文： | 张超,李彬.2-RRU&RSR并联机构运动学传动性能分析[J].机床与液压,2018,46(21):65-69. |
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| 作者姓名： | 张超 李彬 |
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| 作者单位： | 天津理工大学天津市先进机电系统设计与智能控制重点实验室 |
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| 摘 要： | 以2-RRURSR并联机构为研究对象,通过矢量方程法对机构进行位置逆解研究,得到相应的运动学方程。利用螺旋理论建立机构的雅可比矩阵,并通过对机构支链输出传动效率指数的定义对机构的运动学传动性能进行研究。
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| 关 键 词： | 2-RRU&RSR并联机器人 运动分析 雅可比矩阵 传动性能 |
Transmission Performance Analysis of a 2-RRU&RSR Parallel Mechanism |
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| Abstract: | A novel over constrained 2-RRU&RSR parallel mechanism was proposed and analyzed. By vector method, the explicit equation of the inverse was gotten. Then, the overall Jacobin matrix of the parallel manipulator was established based on screw theory. Finally, the kinematic transmission performance of the mechanism was analyzed by defining transmission efficiency coefficient between limbs and some conclusions were given. |
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| Keywords: | 2-RRU&RSR parallel manipulator Kinematic analysis Jacobin matrix Transmission performance |
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