| 一种新型3-UPS并联机构及其工作空间分析 |
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| 引用本文： | 金振林,何小静.一种新型3-UPS并联机构及其工作空间分析[J].燕山大学学报,2011,35(3):203-207,227. |
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| 作者姓名： | 金振林 何小静 |
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| 作者单位： | 1. 燕山大学机械工程学院，河北秦皇岛066004;上海交通大学机械系统与振动国家重点实验室，上海200240
2. 燕山大学机械工程学院,河北秦皇岛,066004 |
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| 基金项目： | 机械系统与振动国家重点实验室开放课题资助项目(MSV-2010-24) |
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| 摘 要： | 设计了一种新型3分支6自由度3-UPS并联机构,建立了该机构的运动学反解模型,给出机构主要约束,应用三维极坐标边界搜索方法绘制出在定姿态工作空间截面图和边界三维实体图,分析了机构参数对工作空间体积大小的影响规律,为机构参数的选取提供了依据。该并联机构工作空间大、连续性好,适合作为机器人步行器的腿结构。
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| 关 键 词： | 3-UPS并联机构 机构约束 工作空间 机构参数 工作空间体积 |
Workspace analysis of a novel 3-UPS parallel mechanism |
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| JIN Zhen-lin,HE Xiao-jing.Workspace analysis of a novel 3-UPS parallel mechanism[J].Journal of Yanshan University,2011,35(3):203-207,227. |
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| Authors: | JIN Zhen-lin HE Xiao-jing |
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| Institution: | JIN Zhen-lin1,2,HE Xiao-jing1(1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China,2.State Key Laboratory ofMechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | A novel 3-UPS 6-DOF parallel mechanism with three branches is designed and its inverse kinematics is built.By giving the main constraint,the boundary and the section of constant orientation workspace are described using 3D polar boundary search method.The effects of parameters on the workspace volume are analyzed for the parameter selection.This mechanism has a large workspace and good at continuity.It is suitable for legs of robot. |
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| Keywords: | 3-UPS parallel mechanism constraint workspace structural parameter workspace volume |
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