摘要
提出一种采用自均力驱动模块构造冗余驱动并联机器人的新方法,根据这种方法构造了一种具有10个输入的6自由度冗余驱动并联机器人。对此机器人的运动反解进行了分析,得到了唯一的显式表达。最后用自行研发的六维鼠标对这种机器人进行了运动仿真,验证了反解的正确性。
Using the interface module of force self-evening, a new method of constituting redundant actuation parallel robots is proposed and based on this method, a 6-DOF parallel robot with 10 actuators is presented. Kinematic of the robot is also analyzed and the only expressions are obtained in an explicit form. Then the kinematics simulation is made by the aid of 6-DOF-mouse which is developed by ourselves and the validity of its kinematics solution is verified.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第8期144-148,共5页
Journal of Mechanical Engineering
基金
国家杰出青年基金(50125516)振动
冲击
噪声国家重点实验室(VSN-2005-07)天津市自然科学基金重点(043801811)资助项目。
