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| 基于运动特征的并联机器人构型正解 | |
| 引用本文： | 宫金良,张彦斐,高峰. 基于运动特征的并联机器人构型正解[J]. 机械设计, 2006, 23(10): 21-23 |
| 作者姓名： | 宫金良 张彦斐 高峰 |
| 作者单位： | 1. 燕山大学,机械工程学院,河北,秦皇岛,066004 2. 山东理工大学,机械工程学院,山东,淄博,255049 3. 上海交通大学,振动、冲击、噪声国家重点实验室,上海,200240 |
| 基金项目： | 国家自然科学基金;国家自然科学基金;国家重点实验室基金 |
| 摘 要： | 采用运动特征的概念，完整表示了机器人构型中的运动特征信息从基座到末端执行；的传递过程。提出了移动单元、转动单元和螺旋单元等概念，给出部分运算法则及其遵循的运算原则，定义并求解了爿联机器人构型正解问题，最后通过实例验证了上述方法的简便性和有效性。 |
| 关 键 词： | 机器人 构型 运动特征 运动单元 |
| 文章编号： | 1001-2354（2006）10-0021-03 |
| 收稿时间： | 2006-03-28 |
| 修稿时间： | 2006-03-282006-06-26 |
Forward solution on the configuration of parallel robot based on kinetic features |
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| GONG Jin-liang,ZHANG Yan-fei,GAO Feng. Forward solution on the configuration of parallel robot based on kinetic features[J]. Journal of Machine Design, 2006, 23(10): 21-23 | |
| Authors: | GONG Jin-liang ZHANG Yan-fei GAO Feng |
| Affiliation: | 1. School of Mechanical Engineering, Yanshan Universi ty, Qinhuangdao 066004, China; 2. School of Mechanical Engineering, Shandong University of Science and Engineering, Zibo 255049, China; 3. State Key Laboratory of Vibration Impact and Noise, Shanghai Jiaotong University, Shanghai 200240, China |
| Abstract: | By adopting the concept of kinetic characteristics, this paper expressed completely the information transmission process of kinetic features from pedestal to end executor in the configuration of robot. Conception of mobile unite, rotation unite and spiral unite etc. were put forward, and partial operative law and the operation principle it flowed were presented. Problems of forward solution for configuration of parallel robot were defined and resolved, finally by means of a living example verified the handiness and effectiveness of the above stated method. |
| Keywords: | robot configuration kinematical feature kinetic unit |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |