| 一种基于球面并联机构的肩关节的分析与设计 |
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| 引用本文： | 战丽娜,金振林.一种基于球面并联机构的肩关节的分析与设计[J].燕山大学学报,2006,30(1):14-17. |
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| 作者姓名： | 战丽娜 金振林 |
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| 作者单位： | 燕山大学,机械工程学院,河北,秦皇岛,066004 |
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| 摘 要： | 采用球面三自由度并联机构作为拟人机械臂的肩关节，在使全域角速度精度传递性能评价指标较好以及满足组装条件的情况下，选取合理的设计参数，最终确定了一种肩关节的完整设计方案，为拟人机械臂的整体研究奠定了基础。
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| 关 键 词： | 球面3-DOF并联机构 肩关节 全域性能 |
| 文章编号： | 1007-791X(2006)01-0014-04 |
| 修稿时间： | 2005年5月14日 |
Analysis and design of shoulder joint based on spherical parallel manipulator |
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| ZHAN Li-na,JIN Zhen-lin.Analysis and design of shoulder joint based on spherical parallel manipulator[J].Journal of Yanshan University,2006,30(1):14-17. |
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| Authors: | ZHAN Li-na JIN Zhen-lin |
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| Abstract: | A kind of spherical 3-DOF parallel manipulator is adopted as the anthropopathic mechanical arms' shoulder joint and the design thought is also given in this paper. Moreover, reasonable design parameters are chosen when they make the global angle velocity precision transfer performance better and satisfy the assembly conditions. Finally, an integrated design scheme of a should joint is confirmed, which is a better base for the whole study of the anthropopathic mechanical arms. |
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| Keywords: | spherical 3-DOF parallel manipulator shoulder joint global performance |
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