| 一种新型解耦二腿三维平移并联机构及其运动分析 |
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| 引用本文： | 沈惠平,马正华,金琼,杨廷力.一种新型解耦二腿三维平移并联机构及其运动分析[J].江苏石油化工学院学报,2003(3). |
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| 作者姓名： | 沈惠平 马正华 金琼 杨廷力 |
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| 作者单位： | 江苏工业学院机械工程系，江苏工业学院，东南大学，中国石化金陵石油化工有限责任公司 江苏常州213016 |
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| 基金项目： | 江苏省自然科学基金(青年创新人才)项目(BK2001413)，国家自然科学基金项目(50275070) |
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| 摘 要： | 基于以单开链为单元的并联机器人机构组成原理,设计了一种动平台能实现空间三维纯移动的二腿并联机器人机构,对其进行了机构运动确定性分析、运动输出特性分析;还给出了其位置分析的正、逆解析解及速度解析解,讨论了该机构的输入-输出运动解耦性。
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| 关 键 词： | 并联机构 并联机器人 运动分析 型综合 单开链 |
A Novel Decoupled 2-Limb 3-Translation Parallel Mechanism and its Kinematic Analysis |
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| Abstract: | A novel decoupled 2-limb parallel robot mechanism with 3-dimension translation was synthesized and investigated according to the structural theory of parallel mechanisms based on the units of the single-opened-chain limb.First,the structural characteristics analysis for the parallel mechanism including mobility analysis and motion output analysis was addressed;then the closed-formed analytic solutions were developed for both the forward and inverse position as well as the velocity,moreover,input-output motion relationship was also discussed.The analysis work provided a solid foundation for kinematics,dynamics,mechanical structural design and potential industrial application of the novel parallel robot mechanism. |
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| Keywords: | parallel mechanisms parallel robotics kinematic analysis type synthesis single-opened-chain |
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