一种三自由度并联机构的构型与运动学分析
首发时间:2007-08-20
摘要:文中从运动副分析入手,对一种运动解耦的三自由度并联机构进行了构型研究,该机构由三个正交分布的支链组成,且机构的运动副均为转动副,构成了机构动平台X、Y、Z三个方向的平动解耦;在机构构型研究的基础上,对其进行了运动学分析,推导出了该并联机构的运动学正反解,分析了机构输入/输出的速度和加速度等,验证了该机构运动解耦的特性。这对该机构的动力学分析、控制策略、机构设计和轨迹规划等方面的研究,具有一定的理论意义。
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The Configuration and Kinematics Analysis of a Three Degree of Freedom Parallel Mechanism
Abstract:One kind of three degree of freedom translational parallel mechanism’s configuration analysis was proposed in the article, which had been obtained from the movement pair-analysis. The mechanism has three orthogonal distributional branch-chains, and all movement pairs are rotational joints, which moving platform has X, Y, Z three translational direction of decoupling. It also had carried on the kinematics research according to the parallel mechanism characteristics. The direct kinematics and inverse kinematics were solved and the input/output speed, the acceleration analysis had been carried on in the paper, which confirmed its decoupling characteristics of the movement. This was the certain significant theory for the following study of its dynamics analysis, controlling strategy, mechanism design, path planning etc.
Keywords: Three Degree Parallel Mechanism Configuration Kinematics Decoupling
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No.1462413538511876****
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