| 一种新型变几何桁架机器人机构位置分析 |
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| 引用本文： | 房海蓉,姚进,方跃法.一种新型变几何桁架机器人机构位置分析[J].北京交通大学学报(自然科学版),1998,22(1):2. |
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| 作者姓名： | 房海蓉 姚进 方跃法 |
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| 作者单位： | 北方交通大学机械与电气工程学院，四川联合大学制造学院 |
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| 摘 要： | 提出一种由三个四面体和一个八面体并联组成的新型变几何桁架机器人的机构，并对其进行了结构和位置分析，推导出直接位置和间接位置的显式解析解，为该机构的运动学和动力学分析打下了基础．结果表明，这种机构在位置分析中具有计算简单、计算精度高的特点，可以满足机器人机构实时控制的需要．
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| 关 键 词： | 变几何桁架 机器人 位置分析 |
Displacement Analysis of a Novel Type Variable Geometry Truss Manipulator |
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| Fang Hairong\ Yao Jin,\ Fang Yuefa.Displacement Analysis of a Novel Type Variable Geometry Truss Manipulator[J].JOURNAL OF BEIJING JIAOTONG UNIVERSITY,1998,22(1):2. |
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| Authors: | Fang Hairong\ Yao Jin \ Fang Yuefa |
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| Abstract: | A novel type varaible geometry manipulator mechanism constructed in parallel by three tetrahedrons and an octahedron is presented. The structure and displacement analyses of the mechanism have been carried out, and the close form analytical forward and inverse displacement solutions of the mechanism are obtained.These form the basis for further kinematic and dynamic analyses of the mechanism. The results show that this novel mechanism has the characteristics of calculation simplicity and high calculation accuracy in its displacement analysis, therefore it can satisfy the requirements of the real time control of the manipulator mechanism. |
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| Keywords: | variable geometry truss\ manipulator\ displacement analysis |
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