| 六自由度3-RRRS并联机器人机构位姿正逆解 |
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| 引用本文： | 钱瑞明.六自由度3-RRRS并联机器人机构位姿正逆解[J].东南大学学报(自然科学版),2000(5). |
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| 作者姓名： | 钱瑞明 |
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| 作者单位： | 东南大学机械工程系!南京210096 |
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| 摘 要： | 提出一种六自由度 3RRRS并联机器人机构 ,建立了位姿正逆解的解析表达式 ,其中位姿正解有 4组 ,位姿逆解有 8组 .
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| 关 键 词： | 并联机器人 3RRRS机构 位姿正逆解 |
Forward and Inverse Position/Orientation Analysis of 6-DOF 3-RRRS Parallel Manipulators |
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| Qian Ruiming.Forward and Inverse Position/Orientation Analysis of 6-DOF 3-RRRS Parallel Manipulators[J].Journal of Southeast University(Natural Science Edition),2000(5). |
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| Authors: | Qian Ruiming |
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| Abstract: | This paper presents a 3 RRRS parallel manipulator with six degrees of freedom and formulates its analytic expressions of forward and inverse position/orientation solutions. There are four solutions for forward position/orientation analysis and eight solutions for inverse position/orientation analysis. |
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| Keywords: | parallel manipulator 3 RRRS mechanism forward and inverse position/orientation solution |
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