| 一种新型4-PUU并联机构运动学分析 |
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| 引用本文： | 祁晓园,李宁宁,陈江,赵铁石.一种新型4-PUU并联机构运动学分析[J].燕山大学学报,2007,31(5):387-391. |
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| 作者姓名： | 祁晓园 李宁宁 陈江 赵铁石 |
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| 作者单位： | 1. 燕山大学,信息科学与工程学院,河北,秦皇岛,066004
2. 燕山大学,机械工程学院,河北,秦皇岛,066004 |
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| 摘 要： | 介绍了一种新型4-PUU并联机器人机构，该机构可以实现空间三维的移动和绕Z轴的转动。文中利用螺旋理论分析了机构的约束特性，计算了它的自由度数目，讨论了输入的合理性：给出了机构位置反解方程和机构速度方程并分析了机构奇异位形和工作空间。该并联机构结构对称，机构较简单，可以用来开发工业机器人，定位平台等。
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| 关 键 词： | 并联机构 4自由度 运动学 |
| 文章编号： | 1007-791X（2007）05-0387-05 |
| 修稿时间： | 2007-06-06 |
Kinematic analysis of a new-style 4-PUU parallel mechanism |
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| QI Xiao-yuan,LI Ning-ning,CHEN Jiang,ZHAO Tie-Shi.Kinematic analysis of a new-style 4-PUU parallel mechanism[J].Journal of Yanshan University,2007,31(5):387-391. |
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| Authors: | QI Xiao-yuan LI Ning-ning CHEN Jiang ZHAO Tie-Shi |
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| Institution: | 1. College of Information Science and Engineering, Yanshan University, Qinghuangdao, Hebei 066004, China; 2. College of Mechanical Engineering, Yanshan University, Qinghuangdao, Hebei 066004, China |
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| Abstract: | A new-style 4-PUU parallel mechanism which has three-dimensional translation and one revolution around Z axis is presented in this paper. The constraint characteristics are analyzed based on the screw theory, the mobility of this mechanism is calculated, and the rationality of the chosen input joints is discussed. The inverse position kinematics solution and the velocity equations ofthe mechanism are given. And the singularity and the workspace ofthe parallel mechanism are discussed. This parallel mechanism with symmetric and simple structure can be applied to the design of industrial robots, positioning platform, etc. |
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| Keywords: | parallel mechanism 4-DOF kinematics |
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