| 并联机构卫星通讯稳定平台运动学分析 |
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| 引用本文： | 陈兵奎,赵骧,王永波.并联机构卫星通讯稳定平台运动学分析[J].重庆大学学报(自然科学版),2008,31(9). |
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| 作者姓名： | 陈兵奎 赵骧 王永波 |
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| 作者单位： | 重庆大学,机械传动国家重点实验室,重庆,400030;重庆大学,机械传动国家重点实验室,重庆,400030;重庆大学,机械传动国家重点实验室,重庆,400030 |
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| 基金项目： | 教育部跨世纪优秀人才培养计划 |
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| 摘 要： | 根据空间机构学理论,通过地理坐标系的建立,联系稳定平台的位姿与运动载体,推导出在非稳定条件下的3RPS并联机构上平台法向量与杆长之间的运算关系式,得到了机构的逆解方程;分析了速度和加速度特性, 绘出了机构工作空间运动轨迹的曲线和曲面,结果显示:杆长值的时间函数曲线和机构的工作空间曲面平滑,机构在运行时无奇异位型.
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| 关 键 词： | 并行处理系统 机构学 机器人 卫星通信系统 |
Kinematic analysis of a stabilized parallel mechanism platform for satellite communication |
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| CHEN Bing-kui,ZHAO Xiang,WANG Yong-bo.Kinematic analysis of a stabilized parallel mechanism platform for satellite communication[J].Journal of Chongqing University(Natural Science Edition),2008,31(9). |
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| Authors: | CHEN Bing-kui ZHAO Xiang WANG Yong-bo |
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| Abstract: | The 3-RPS parallel mechanism under unsteady conditions was studied.By establishing geographical coordinate systems and connecting the position of the stabilized platform with the motive vector,operational formulas between normal vectors in upper and rod length were deduced,and the inverse solution derived.The character of velocity and acceleration was analyzed and the trajectory of work space plotted.Analysis indicates the time function of the rod length and the surface of the work space's trajectory are smooth,and no singular position has been found. |
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| Keywords: | parallel processing systems mechanisms robotics satellite communication system |
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