摘要
根据少自由度并联机构的诸多优点,提出了一种新型三自由度平面运动并联机构,介绍了该机构的组成,推导了该并联机构的运动学正逆解求解公式,分析并求解了该并联机构的奇异性、工作空间和被动关节等相关问题,并给出了雅克比矩阵。求解结果表明,该并联机构运动学正、逆解方程均具有显式表达式,易于实现实时控制,能够满足工程实际应用。
Based on more advantages of the parallel mechanism with less degree of freedom, this paper presents a new kind of three-degree-of-freedom planar parallel mechanism, introduces this mechanism＇ s composition, induces the direct and the inverse solution formulas of this parallel mechanism＇ s kinematics, analyzes and solves this parallel mechanism＇ s related problems such as the singularity, workspace, passive joint and so on, and gives the Jacobian matrix. The solution results indicate that the positive and reverse solution equation of this parallel mechanism＇ s kinematics is characterized by the explicit expression, being easy to realize the real-time control, and being able to satisfy the practical application in engineering.
出处
《西安理工大学学报》
CAS
北大核心
2009年第1期23-27,共5页
Journal of Xi'an University of Technology
基金
国家自然科学基金资助项目(50875209)
关键词
并联机构
运动学
奇异性
雅可比矩阵
被动关节
parallel mechanism
kinematics
singularity
Jacobian matrix
passive joint
