| 绳牵引并联机器人机构的运动学正解研究 |
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| 引用本文： | 汪选要,叶友东,张文祥.绳牵引并联机器人机构的运动学正解研究[J].安徽理工大学学报(自然科学版),2007,27(1):17-20. |
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| 作者姓名： | 汪选要 叶友东 张文祥 |
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| 作者单位： | 安徽理工大学机械工程系,安徽,淮南,232001 |
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| 基金项目： | 安徽理工大学硕、博基金资助项目(11047) |
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| 摘 要： | 提出了并联机构CRPM(Completely Restrained Position Mechanisms)正解的三棱锥法,确定了正解的数目,给出了其解析形式,并以反解为已知通过实例验证。避免了数值法计算速度太慢的缺点,采用Mathematica符号计算软件提高了推导并联机构CRPM解析解的效率。
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| 关 键 词： | 并联机构CRPM 正解 三棱锥法 |
| 文章编号： | 1672-1098(2007)01-0017-04 |
| 修稿时间： | 2006-07-20 |
Kinematic Analysis of Wire-Driven Parallel Manipulator |
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| WANG Xuan-yao,YE You-dong,ZHANG Wen-xiang.Kinematic Analysis of Wire-Driven Parallel Manipulator[J].Journal of Anhui University of Science and Technology:Natural Science,2007,27(1):17-20. |
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| Authors: | WANG Xuan-yao YE You-dong ZHANG Wen-xiang |
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| Institution: | Dept. of Mechanical Engineering, Anhui University of Science and Technology, Huainan Anhui 232001,China |
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| Abstract: | This paper presents a three pyramid method of forward kinematics for parallel manipulator CRPM,determines the number of the forward kinematics,gives the analytic form and verifies by example based on inverse kinematics.It avoids the fault of numerical method,increases analytical efficiency of parallel manipulator based on software of Mathematica. |
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| Keywords: | parallel manipulator CRPM forward kinematics three pyramid method |
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