期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

一种并联运动机床的轨迹规划 被引量：4

Trajectory Planning and Simulating of 3-TPT Parallel Machine Tool
下载PDF
导出
摘要 针对东北大学开发研制的3 TPT并联运动机床进行了研究·首先进行了机构的结构分析,论述了该并联机构具有三维移动即平动的运动特征,然后对并联机床进行了位置分析,给出了位置正反解,得出了移动平台按预期运动规律运动时应该施加在原动件伸缩杆上的运动规律,最后,基于ADAMS虚拟样机技术,创建了3 TPT并联运动机床的虚拟样机模型·通过虚拟样机的运动仿真,对所规划的运动轨迹进行了验证· The 3-TPT parallel machine tool developed by Northeastern University was investigated. Based on a structure analysis, the 3-TPT parallel mechanism shows the translation as its kinematic feature. The position equation is given as well as both the direct and inverse kinematic solutions to it. How the telescopic rod of driving link moves due to the movable platform which is moving in accordance to a planned movement was discussed and proposed. The planned trajectory was verified via a kinematic simulation done for the virtual prototype. The results showed that the way proposed to plan the trajectory is simple to implement with favorable applicability.
作者 杨斌久 蔡光起 罗继曼 石宏
机构地区 东北大学机械工程与自动化学院
出处 《东北大学学报（自然科学版）》 EI CAS CSCD 北大核心 2005年第7期670-672,共3页 Journal of Northeastern University(Natural Science)
基金 国家高技术研究发展计划项目(863 9803 05)
关键词 并联机器人 轨迹规划 虚拟样机 建模 运动仿真 parallel machine tool trajectory planning virtual prototype modeling kinematic simulation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献10

  • 1Rasim S, Alizade I. Forward and reverse displacement analysis of a 6-DOF in-parallel manipulators[J]. International Journal of Tools & Manufacture, 1997,39(2):321-342.
  • 2Fichter E F. A Stewart platform-based manipulator: general theory and practical construction[J]. The International Journal of Robotics Research, 1986,5(2):157-181.
  • 3Hunt K H. Structural kinematics of in-parallel actuated robot-arms[J]. ASME J Mechanisms, Transmissions and Automation in Design, 1983,105(11):705-712.
  • 4HuangZhen LiQinchuan.约束综合法及新型4、5自由度对称并联机构[J].燕山大学学报,2003,27(1):1-7. 被引量：7
  • 5胡明,郭成,蔡光起,戴炬.一种三自由度并联机器人机构运动学计算[J].东北大学学报（自然科学版）,1998,19(4):411-414. 被引量：29
  • 6Cai G Q, Hu M, Guo C, et al. Development and study of a new kind of tripod[J]. Annals of CIRP, 1999,48(1):333-336.
  • 7Cai G Q, Wang Q M, Hu M, et al. A study on the kinematics and dynamics of a 3-DOF parallel machine tool[J]. Journal of Materials Processing Technology, 2001,111(1-3):269-272.
  • 8Choi H B, Company O ,Pierrot F,et al. Design and control of a novel 4-DOFs parallel robot H4[A]. Proceedings of the 2003 IEEE International Conference on Robotics & Automation[C]. Taibei, 2003.1185-1190.
  • 9Wolf A, Ottaviano E , Shoham M, et al. Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF CaPaMan parallel manipulator[J]. Mechanism and Machine Theory, 2004,39(1):75-95.
  • 10Huang T, Whitehouse D J, Wang J S. The local dexterity optimal architecture and design criteria of parallel machine tools[J]. Annals of the CIRP, 1998,47( 1 ) :347 - 351.

二级参考文献21

  • 1方跃法，机械科学与技术，1996年，6期，929页
  • 2吴瑞祥，机器人技术及应用，1994年，46页
  • 3黄真，空间机构学，1991年，198页
  • 4团体著者，工业机器人.特性表示GB/T 12644-90
  • 5Huang Z, Li Q C. Two novelsymmetrical 5-dofparallel mechanisms. Joumal ofYanshanUniversity, 2001,25 (4): 283-286
  • 6Huang Z, Li Q C. General methodology for type synthesis of lowermobilitysymmetrical parallel manipulators and several novel manipulators.InternationalJournalofRoboticsResearch, 2002, 21(2): 131-146
  • 7Huang Z, Li Q C. Some novel lower-mobility parallel mechanisms.In:ProcofASMEDETC/CIEConference, MECH-34299, Montral, Canada, 2002
  • 8Huang Z, Li Q C. On the type synthesis of lower-mobility parallel manipulators. In:Proc of the workshop on fundamental issues and future research directions for parallelmechanisms and manipulators, Quebec, Canada, 2002, 272-283
  • 9Dimiter Zlatanov, Clement M Gosselin. A new parallel architecture with four degreesof freedom. In: Proc of the 2nd workshop on Computational Kinematics, Seoul, Korea, 2001,57-66
  • 10Clavel R. Delta, a fast robot with parallel geometry. In: Proc.Of the Int. Symp. OnIndustrial Robot, Switzerland, 1988, 91-100

共引文献33

同被引文献28

  • 1隋春平,赵明扬.并联柔索驱动操作臂静刚度的理论分析[J].组合机床与自动化加工技术,2004(7):27-30. 被引量：6
  • 2Gosselin C.Stiffness mapping for parallel manipulators[J].IEEE Transactions on Robotic and Automation,1990,6(3):337-382.
  • 3Ei-Khasawneh B S,Ferreira P M.Computation of stiffness and stiffness bounds for parallel link manipulators[J].International Journal of Machine Tools and Manufacture,1999,39:321-334.
  • 4Clinton C M,Zhang G M.Stiffness modeling of a Stewart-platform based milling machine[J].Transaction of NAMRI/SME,1997,115:335-340.
  • 5Svinin M M,Hosoe S,Uchiyana M.On the stiffness and stability of Gough-Stewart platforms[C]∥Proceedings of the IEEE International Conference on Robotics and Automation.Piscataway:IEEE Press,2001:3268-3273.
  • 6Huang T,Mei J P,Zhao X Y,et al.Stiffness estimation of a tripod-based parallel kinematic machine[C]∥Proceedings of the IEEE International Conference on Robotics and Automation.Piscataway:IEEE Press,2001:3280-3285.
  • 7Lee M K,Park K W. Kinematics and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities [J]. IEEE Transactions on Robotics and Automation,1999,15(6):1024-1034.
  • 8Huang T, Whitehouse D J, Wang J S. The local dexterity optimal architecture and design criteria of parallel machine tools[J].Annals of the CIRP,1998,47(1):347-351.
  • 9Romadhane L. Design and analysis of a hybrid serial-parallel manipulator[J]. Mechanism and Machine Theory, 1999,34(2):1037-1055.
  • 10Alizade R I,Tagiyev N R. Forward and reverse displacement analysis of a 6-DOF in-parallel manipulator [J]. Mechanism & Machine Theory, 1994,29(1):115-124.

引证文献4

二级引证文献15

东北大学学报（自然科学版）
2005年 第7期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部