一种新型4自由度并联机器人自由度分析 |
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引用本文: | 温庆荣,方跃法.一种新型4自由度并联机器人自由度分析[J].北京交通大学学报(自然科学版),2003,27(4):75-78. |
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作者姓名: | 温庆荣 方跃法 |
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作者单位: | 北方交通大学机械与电子控制工程学院,北方交通大学机械与电子控制工程学院 北京100044,北京100044 |
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摘 要: | 采用对称结构的4自由度并联机器人一般是过约束机构.采用传统的机构学理论和方法对其运动自由度进行分析往往会得出错误的结论,现采用螺旋理论对一种新型的、结构对称的4自由度并联机器人进行了全面的自由度分析,证明了这种机构运动平台的自由度数目及其相应的自由度特性,为这种机构进一步深入的研究打下了基础.
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关 键 词: | 并联机器人 螺旋理论 反螺旋 |
文章编号: | 1000-1506(2003)04-0075-04 |
修稿时间: | 2003年4月10日 |
Mobility Analysis of A Novel 4-DoF Parallel Manipulator |
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Abstract: | A 4_DoF parallel manipulator with identical serial limbs is usually an overconstrained mechanism. The traditional mobility analysis theory may leads a wrong result for the mobility analysis of an overconstrained mechanism. In this paper, a systematic mobility analysis approach based on screw theory is proposed, and applied to a novel 4_DoF parallel manipulator with identical serial limbs. The analysis results are not only determining the DoF number, but also providing the information on mobility characteristics of the mechanism. The work described in this paper will be helpful for the further research on this novel parallel manipulator. |
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Keywords: | parallel manipulator screw theory reciprocal screw |
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