| 一种三自由度并联机构的概念设计与运动学分析 |
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| 引用本文： | 吴孟丽,张大卫,赵兴玉.一种三自由度并联机构的概念设计与运动学分析[J].天津大学学报(自然科学与工程技术版),2007,40(8):965-970. |
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| 作者姓名： | 吴孟丽 张大卫 赵兴玉 |
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| 作者单位： | 天津大学机械工程学院 天津300072 |
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| 摘 要： | 从机构创新的角度出发,系统论述了一种三自由度并联机构(TAM)的概念设计思想.该机构采取变一条被动支链为主动支链的方法,在SKM400机构的基础上进行了非对称变型设计.与SKM400对比,建立了二者的运动学模型,计算了它们的位置逆解和速度.以雅可比条件数及其全域均值为指标,对机构的运动学性能进行了评价.从理论上说,TAM机构比SKM400机构简单有效,更具竞争性.
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| 关 键 词： | 并联机构 概念设计 运动学性能评价 位置逆解 |
| 文章编号： | 0493-2137（2007）08-0965-06 |
| 修稿时间： | 2006-08-08 |
Conceptual Design and Kinematic Analysis of a 3-DOF Parallel Robot |
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| WU Meng-li,ZHANG Da-wei,ZHAO Xing-yu.Conceptual Design and Kinematic Analysis of a 3-DOF Parallel Robot[J].Journal of Tianjin University(Science and Technology),2007,40(8):965-970. |
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| Authors: | WU Meng-li ZHANG Da-wei ZHAO Xing-yu |
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| Institution: | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| Abstract: | Aiming at the innovation of the mechanism,the conceptual design of a 3-DOF parallel robot(TAM) was presented.As a modified asymmetrical version of SKM400,the robot was achieved by changing one of the three active limbs into the passive limb.In comparison with the SKM400,the inverse position and velocity were calculated.The kinematic performances of them were evaluated by means of the condition number of the Jacobian and its mean value.As a result,the proposed mechanism was more effective and competitive in theory. |
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| Keywords: | parallel kinematic machines conceptual design kinematic performance evaluation inverse position |
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