| 具输入及输出树状链并联机构的运动分析 |
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| 引用本文： | 孔宪文,黄真.具输入及输出树状链并联机构的运动分析[J].燕山大学学报,1993(4). |
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| 作者姓名： | 孔宪文 黄真 |
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| 作者单位： | 东南大学，燕山大学 |
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| 摘 要： | 在普通六自由度并联机器人研究的基础上,提出一种更具一般形式的并联机构,并着重讨论了建立其一、二阶运动影响系数矩阵和机构的位姿速度和加速度的求解.
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| 关 键 词： | 机器人 机构 运动分析 |
Derivation of Kinematic Influence Coefficients for General Rarallel Robot Mechanisms |
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| KONG Xianwen HUANG Zhen.Derivation of Kinematic Influence Coefficients for General Rarallel Robot Mechanisms[J].Journal of Yanshan University,1993(4). |
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| Authors: | KONG Xianwen HUANG Zhen |
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| Institution: | KONG Xianwen HUANG Zhen |
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| Abstract: | General parallel robot mechanisms are introduced for
the first time.All necessary first and second-order kinematic
influence coefficients are derived for genaral parallel robot
mechanisms and pose velocity and acceleration of any link are
expressed in explicit form based on the investigations on six-DOF
parallel robot. |
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| Keywords: | robot mechanism kinematic analysis |
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