| 一种新型三自由度并联机构逆运动学及其工作空间分析 |
| |
| 引用本文： | 范建会,赵新华,李彬.一种新型三自由度并联机构逆运动学及其工作空间分析[J].天津理工大学学报,2013(5):16-20. |
| |
| 作者姓名： | 范建会 赵新华 李彬 |
| |
| 作者单位： | 天津理工大学机械工程学院,天津300384 |
| |
| 基金项目： | 国家自然科学基金（51275353,51205289）. |
| |
| 摘 要： | 以一种新型三自由度并联机构2-RPU&SPR为研究对象,对其逆运动学及工作空间进行分析.首先,利用矢量法对其逆运动学进行分析,推导出机构位置反解的显式数学表达式;随后,利用极限边界搜索法,根据并联机构位置反解及其它约束条件,获得其工作空间,最后通过数值仿真对逆运动学数学模型以及机构工作空间搜索方法进行了验证.
|
| 关 键 词： | 并联机构 逆运动学 工作空间 |
Inverse displacement kinematics and workspace analysis of a novel 3-DOF parallel manipulator |
| |
| FAN Jian-hui,ZHAO Xin-hua,LI Bin.Inverse displacement kinematics and workspace analysis of a novel 3-DOF parallel manipulator[J].Journal of Tianjin University of Technology,2013(5):16-20. |
| |
| Authors: | FAN Jian-hui ZHAO Xin-hua LI Bin |
| |
| Institution: | ( School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China) |
| |
| Abstract: | The inverse displacement kinematics and workspace of a novel 2-RPU＆SPR parallel manipulator are studied in this paper. Firstly, the inverse displacement kinematics is analyzed by vector method, and the explicit formation is derived for the inverse position analysis of the mechanism. Then, according to the inverse kinematics and other constraints, the workspace of parallel manipulator is analyzed by limited boundary searching method. Finally, the analytic results of inverse kinematics and the workspace of mechanism are verified by numerical simulation examples. |
| |
| Keywords: | parallel manipulator inverse kinematics workspace |
| 本文献已被 维普 等数据库收录！ |
|
