光学 精密工程, 2008, 16 (1): 108, 网络出版: 2008-07-08   

3-UCR并联机构的瞬态运动学研究

Research on transient kinematic characteristics of 3-UCR parallel robot
作者单位
1 中国矿业大学,可靠性与救灾机器人研究所,江苏,徐州,221008
2 中国科学院,光电技术研究所,四川,成都,610209
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.
Abstract
参考文献

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程刚, 葛世荣, 蒋世磊. 3-UCR并联机构的瞬态运动学研究[J]. 光学 精密工程, 2008, 16(1): 108. 程刚, 葛世荣, 蒋世磊. Research on transient kinematic characteristics of 3-UCR parallel robot[J]. Optics and Precision Engineering, 2008, 16(1): 108.

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