| 6-SPS并联机器人机构运动分析 |
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| 引用本文： | 黄真,孔宪文. 6-SPS并联机器人机构运动分析[J]. 燕山大学学报, 1992, 0(4) |
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| 作者姓名： | 黄真 孔宪文 |
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| 作者单位： | 燕山大学，东南大学 |
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| 摘 要： | 本文对6-SPS机构通过部分输入转换的方法,将该机构的位置正解问题由六维降为三维;经巧妙数学处理,直接得出了速度、加速度反解表达式,从而简化了机构的运动分析。
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| 关 键 词： | 并联机器人 机构 运动分析 |
Kinematic Analysis of 6-SPS Parallel Mechanism |
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| HUANG Zhen, KONG Xianwen. Kinematic Analysis of 6-SPS Parallel Mechanism[J]. Journal of Yanshan University, 1992, 0(4) |
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| Authors: | HUANG Zhen KONG Xianwen |
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| Affiliation: | HUANG Zhen; KONG Xianwen |
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| Abstract: | The direct displacement analysis of the 6-SPS robot manipulator is made easier as six dimension problem getting into three dimension problem by the conversion of some of the input parameters.It is a direct method for getting a reciprocal solution formula of velocity and acceleration by ingenious treatment of maths, meanwhile, the kinematic analysis of the mechanism are also simpler. |
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| Keywords: | parallel manipulator mechanism kinematic analysis |
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