| 一种三自由度并联机构的运动学分析 |
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| 引用本文： | 潘春望,李彬,崔洋,庞见. 一种三自由度并联机构的运动学分析[J]. 天津理工大学学报, 2012, 28(1): 14-17 |
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| 作者姓名： | 潘春望 李彬 崔洋 庞见 |
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| 作者单位： | 天津理工大学机械工程学院,天津,300384 |
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| 基金项目： | 大学生创新性实验计划项目 |
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| 摘 要： | 以一种可实现一平动两转动的三自由度并联机构为研究对象,研究其位置正/逆解的解析解法,分别得到仅含一个未知量的12阶正解多项式方程和逆解的显示表达式.研究表明,在由正解方程得到的4个实数解中,存在4个符合约束条件的正解,对应2组镜象位形;逆解方程存在4个实数解,对应4种位形,从而得到该机构位置正/逆解的全部解答.
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| 关 键 词： | 并联机器人 运动学分析 位置正解 解析解 |
Kinematics analysis of a parallel mechanism with three degree of freedom |
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| PAN Chun-wang , LI Bin , CUI Yang , PANG Jian. Kinematics analysis of a parallel mechanism with three degree of freedom[J]. Journal of Tianjin University of Technology, 2012, 28(1): 14-17 |
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| Authors: | PAN Chun-wang LI Bin CUI Yang PANG Jian |
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| Affiliation: | (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China) |
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| Abstract: | This paper deals with kinematics analysis of a parallel mechanism with three degree of freedom.In the forward position analysis,a twelve order polynomial equation has been derived,leading to 2 sets of mirror poses associated with four real solutions.In the inverse position analysis,an analytical equation has been formulated,leading to four poses associated with four real solutions.Consequently,the entire set of solutions for the forward and inverse position analyses of the mechanism have been found. |
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| Keywords: | parallel manipulator kinematics analysis position analysis analytical solutions |
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