| 多杆并联式六自由度空间机构 |
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| 引用本文： | 晏成栋,曾砥平.多杆并联式六自由度空间机构[J].华中科技大学学报(自然科学版),1987(5). |
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| 作者姓名： | 晏成栋 曾砥平 |
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| 作者单位： | 华中工学院船舶与海洋工程系
(晏成栋)，国防科学技术大学(曾砥平) |
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| 摘 要： | 本文讨论了一种多杆并联式空间机构的结构特点、自由度和连接度;阐述了此种机构的数学模型和控制方法及其应用场合。文中还分析了此种机构的安装模式和特殊机构位置等问题。
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| 关 键 词： | 自由度 空间机构 飞行模拟器 机械手 六自由度 |
A Space Mechanism with 6-DOF and Multiple-Parallel Links |
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| Yan Chengdong Zeng Diping.A Space Mechanism with 6-DOF and Multiple-Parallel Links[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1987(5). |
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| Authors: | Yan Chengdong Zeng Diping |
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| Institution: | Yan Chengdong Zeng Diping |
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| Abstract: | The construction features, the degrees of freedom and the connectivity of a space mechanism with 6-DOF and multiple-parallel links is investigated and the mathematical model as well as the control technique for the mechanism is described. The possible scope of application of such a mechanism is proposed and aome relevant problems such as its installation are discussed. |
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| Keywords: | Degree of freedom Space mechanism Flight simulation Manipu-lator 6-DOF |
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