| 6-RSS并联机构的运动学、动力学分析 |
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| 引用本文： | 李坤全.6-RSS并联机构的运动学、动力学分析[J].科学技术与工程,2011,11(6):1213-1217. |
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| 作者姓名： | 李坤全 |
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| 作者单位： | 1. 河南工程学院机械工程系,郑州,451191
2. 河南工程学院,土木工程系,郑州,451191 |
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| 摘 要： | 以6-RSS并联机构为研究对象,运用D-H方法建立了各支链构件的坐标系。推导了支链的运动学反解的解析方程,并给出了各个构件的速度、加速度与动平台的速度、加速度的映射关系。然后用牛顿-欧拉方法推导了6-RSS并联机构的动力学方程,为该类机构的动力学分析奠定了基础。
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| 关 键 词： | 6-RSS并联机构 牛顿-欧拉方法 动力学 运动学 |
| 收稿时间： | 12/9/2010 4:31:38 PM |
| 修稿时间： | 12/9/2010 4:31:38 PM |
Kinematics, Dynamics Analysis of the 6-RSS Parallel Robot |
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| Li kun quan.Kinematics, Dynamics Analysis of the 6-RSS Parallel Robot[J].Science Technology and Engineering,2011,11(6):1213-1217. |
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| Authors: | Li kun quan |
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| Institution: | LI Kun-quan1,WEN Rui2,KANG Yan1(The Department of Mechanical and Engineering1,the Department of Civil Engineering2,Henan Engineering Institute,Zhengzhou 451151,P.R.China) |
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| Abstract: | In order to construct a complete dynamic model of 6-RSS parallel manipulator,a serial of coordinates on parts are defined with D-H method and a kinematics analysis on a single chain of leg is carried out.As a result,closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given,then the dynamics model of 6-RSS parallel mechanism is deduced based on the Newton-Euler.The basis for dynamics analysis of mechanism with this type is establis... |
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| Keywords: | 6-RSS parallel mechanism Newton-Euler method dynamics kinematics |
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