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一类含复合运动链的并联机器人构型正解分析 被引量：2

Direct Type Synthesis of a Group of Parallel Robots With Compound Kinematic Chains
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摘要 从机器人运动单元角度研究了复合运动支链末端构件输出运动特征的求解问题,给出了几种典型的复合运动链及其用运动单元描述的末端输出运动特征表达式。最后用运动单元的方法研究了含有上述复合运动链的几种典型并联机器人的末端运动特征,并给出了具体的表达式。 From the view of robot kinematic unit, the problems of end effector kinematic characteristics of the compound chains are analyzed. Some typical compound chains are given with their according expressions of the kinematic characteristics described by robot kinematic units. In the end, this method is also applied to research of end ellector kinematic characteristics of parallel robot with compound chains, and the concrete expressions are given too.
作者 宫金良 高峰 张彦斐 赵现朝
机构地区 燕山大学机械工程学院 上海交通大学振动 山东理工大学机械工程学院
出处 《机械设计与研究》 CSCD 北大核心 2006年第5期53-55,共3页 Machine Design And Research
基金 国家自然科学基金重点资助项目(60534020) 天津自然科学重点基金(043801811) 振动 冲击 噪声国家重点实验室(VSN-2005-07)资助项目
关键词 机器人 复合铰链 运动单元 robot compound chain kinematic unit
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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共引文献158

同被引文献26

  • 1Gogu Grigore.Fully-iantropic T3R2-type Parallel Robotic Manipulators[A].2006 IEEE Conference on Robotics Automation and Mechatronics[C].2006.1-6.
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引证文献2

二级引证文献8

机械设计与研究
2006年 第5期

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