| 一种新型三自由度平面并联机构的运动学研究 |
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| 引用本文： | 赵建国,李兵.一种新型三自由度平面并联机构的运动学研究[J].机械工程师,2008(1):76-78. |
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| 作者姓名： | 赵建国 李兵 |
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| 作者单位： | 哈尔滨工业大学,深圳研究生院机械工程与自动化学科部,广东,深圳,518055 |
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| 摘 要： | 文中提出一种新型的三自由度平面并联机构,对其结构特点进行概述,并且针对其进行了运动学正解和逆解分析,得出了四组正解装配模式和八种逆解工作模式.另外利用极坐标搜索法得到了机构的定姿态工作空间,画出了其工作空间分布图.
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| 关 键 词： | 平面并联机构 运动学 工作空间 |
| 文章编号： | 1002-2333(2008)01-0076-03 |
| 修稿时间： | 2007年11月29 |
Kinematic Analysis of a Novel Three DOF Planar Parallel Manipulator |
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| ZHAO Jian-guo,LI Bing.Kinematic Analysis of a Novel Three DOF Planar Parallel Manipulator[J].Mechanical Engineer,2008(1):76-78. |
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| Authors: | ZHAO Jian-guo LI Bing |
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| Abstract: | A novel three DOF planar parallel manipulator is proposed in this paper. The structure characteristic is briefly introduced. Then the direct and inverse kinematics analysis is performed, resulting four assembly modes and eight working modes respectively. In addition, the constant orientation workspace is obtained by the polar search method, and its distribution figure is also plotted. |
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| Keywords: | planar parallel manipulator kinematics workspace |
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