| 三自由度并联角台机构转轴存在的子空间 |
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| 摘 要： | 以反螺旋理论分析了作为机器人肩关节的并联球面３－ＲＲＲ机构，及３－ＲＰＳ，３－ＲＲＳ，３－ＣＳ，３－ＰＲＳ和３－ＴＰＴ等五种并联角台机构，得到一些有意义的机构性质．
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| 关 键 词： | 并联机构 运动学 螺旋理论 |
The Subspace of Rotational Axes of 3-DOF Pyramid Parallel Mechanisms |
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| Huang Zhen Fang Yuefa Machinary Engineering Institute. The Subspace of Rotational Axes of 3-DOF Pyramid Parallel Mechanisms[J]. Journal of Yanshan University, 1997, 0(2) |
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| Authors: | Huang Zhen Fang Yuefa Machinary Engineering Institute |
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| Affiliation: | Huang Zhen Fang Yuefa Machinary Engineering Institute |
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| Abstract: | This paper studies the kinematic characteristic of several three-degree-of-freedom(DOF) pyramid parallel mechanisms by using the anti-serew theony. First the robotshoulder 3-RRR mechanism is studied, then the 3-RPS, 3-RRS, 3-CS 3-PRS and 3-TPT mechanisms are analyzed some interesting features of mechanisms are obtained. |
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| Keywords: | parallel mechanism kinematics screw theory |
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