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3-UCR并联机构的瞬态运动学研究

Research on transient kinematic characteristics of 3-UCR parallel robot

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摘要

基于反螺旋理论与虚拟机构法对一种特殊3-UCR并联机构的瞬态运动特性进行了分析.利用支链与动平台的一阶影响系数矩阵之间的关系,建立了此并联机构在螺旋坐标系下的瞬态运动数学模型,得出了一阶影响系数矩阵只与机构输入参数和机构构型有关的结论.提出的建模方法同样适用于其它欠自由度并联机构的瞬态运动特性分析,运用该数学模型,可得到任意瞬态的螺旋系节距.分析表明,该机构具有两转动一平动的瞬态运动特性,并利用动静平台平行位姿时的具体数值实例,验证了上述分析结果.

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中图分类号:TP242

所属栏目:微纳技术与精密机械

基金项目:国家863高技术计划资助项目(No.2006AA04Z208)

收稿日期:2007-06-25

修改稿日期:2007-08-20

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作者单位    点击查看

程刚:中国矿业大学,可靠性与救灾机器人研究所,江苏,徐州,221008
葛世荣:中国矿业大学,可靠性与救灾机器人研究所,江苏,徐州,221008
蒋世磊:中国科学院,光电技术研究所,四川,成都,610209

备注:程刚(1977-),男,安徽淮北人, 博士研究生, 主要从事并联机构及救灾机器人的研究.E-mail: chgwqx@gmail.com作者简介:葛世荣(1963-),男,博士生导师,主要从事生物摩擦学、微型机械摩擦学、救灾机器人、矿山机械可靠性等方面的研究.E-mail: gesr@cumt.edu.cn

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