| 一种两平移一转动新型并联机构的运动学分析 |
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| 引用本文： | 王海东. 一种两平移一转动新型并联机构的运动学分析[J]. 科学技术与工程, 2010, 10(35) |
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| 作者姓名： | 王海东 |
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| 作者单位： | 海军航空工程学院青岛分院,青岛,266041 |
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| 摘 要： | 提出了一种能够实现两维移动和一维转动的空间3自由度并联机构,其固定平台与运动平台通过1个PU^支链、2个CU^支链相连接。基于该机构运动约束方程,得到位置反解、正解和速度方程的封闭表达式。最后,应用实例验证了理论分析的正确性。
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| 关 键 词： | 并联机构 位置反解 位置正解 |
| 收稿时间： | 2010-08-30 |
| 修稿时间： | 2010-08-30 |
Kinematics analysis of parallel mechanisms with two translations and one rotation |
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| wanghaidong. Kinematics analysis of parallel mechanisms with two translations and one rotation[J]. Science Technology and Engineering, 2010, 10(35) |
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| Authors: | wanghaidong |
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| Affiliation: | WANG Hai-dong,BI Yu-quan,YANG Bing-heng,HUANG Kui(Qingdao Branch of Naval Aeronautical Engineering Institute,Qingdao 266041,P.R.China) |
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| Abstract: | One type of spatial three degrees-of-freedom parallel manipulator with two translations and one rotation is proposed. By means of one PU^ branch and two CU^ branches, the moving platform is linked to the fixed platform of the manipulator. The complete closed form formulae of positive and reverse positional solution are given out based on the motion constrained functions of the parallel mechanisms. Finally, the living example shows that the theoretical analysis is right. |
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| Keywords: | Parallel manipulator Positive positional solution Reverse positional solution |
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