摘要
基于姿态参数给出了姿态空间的新定义,并给出了一种姿态能力的评价指标;针对新型6-PPPS并联机构的结构特点,分析了该构型以Z-Y-X欧拉角为姿态参数的姿态空间,分析结果可用于指导机构设计和初步确定机构姿态设计参数的许可范围,避免设计参数的不合理。
A new definition for orientation space was given based on parameters of orientation, a kind of evaluation indicator about orientation capabilities was given at the same rime. Analysis about orientation space of a new orthogonal 6-PPPS parallel mechanism was given. The orientation space was showed by Z-Y-X Euler angle parameters. The results are used for design analysis of the mechanism. Permissive range of design orientation parameter can be determined preliminary, avoiding the irrationality of the design parameters.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第17期2025-2028,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(60534020)
国家基础研究发展计划资助重点项目(2006CB705400)
关键词
正交六自由度
姿态空间
评价指标
并联机构
orthogonal 6- Dof
orientation space
evaluation indicator
parallel mechanism
