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3-UrSR 6自由度并聯(lián)機(jī)構(gòu)位置分析
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國家自然科學(xué)基金資助項(xiàng)目(50975144)


Position Analysis of 3-UrSR Parallel Mechanism with 6-DOF
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    摘要:

    提出一種采用球面2自由度五桿作為驅(qū)動裝置的3-UrSR并聯(lián)機(jī)構(gòu),。對該機(jī)構(gòu)自由度進(jìn)行了計(jì)算，對機(jī)構(gòu)的位置反解進(jìn)行了分析和研究,，并列出了正解的約束方程組,。最后用反解驗(yàn)證了正解的正確性,，給出了該機(jī)構(gòu)的位姿分析的數(shù)值仿真實(shí)例及圖形,。

    Abstract:

    A parallel mechanism named 3-UrSR was proposed. It used 2-DOF spherical fivebar mechanism as the compound drive device. The mechanism freedoms were calculated, and the mechanism inverse solution was analyzed. The equations of forward solutions to positions were established. At last, the results of forward solutions was numerical verified by inverse solutions, and the simulation example and figure of mechanism positional posture numerical were given. 

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虞啟凱,游有鵬,韓江義.3-UrSR 6自由度并聯(lián)機(jī)構(gòu)位置分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(12):215-219. Yu Qikai,You Youpeng,Han Jiangyi. Position Analysis of 3-UrSR Parallel Mechanism with 6-DOF[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(12):215-219.

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  • 在線發(fā)布日期: 2011-12-19
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